├── .gitignore ├── LICENSE ├── README.md ├── doc ├── summit_xl.jpeg ├── summit_xl_gazebo.png ├── summit_xl_steel.jpeg └── summit_xl_steel_gazebo.png ├── moveit ├── summit_xl_j2n6s200_moveit_config │ ├── .setup_assistant │ ├── CMakeLists.txt │ ├── config │ │ ├── cartesian_limits.yaml │ │ ├── chomp_planning.yaml │ │ ├── fake_controllers.yaml │ │ ├── joint_limits.yaml │ │ ├── kinematics.yaml │ │ ├── ompl_planning.yaml │ │ ├── ros_controllers.yaml │ │ ├── sensors_3d.yaml │ │ └── summit_xl.srdf │ ├── launch │ │ ├── chomp_planning_pipeline.launch.xml │ │ ├── default_warehouse_db.launch │ │ ├── demo.launch │ │ ├── demo_gazebo.launch │ │ ├── fake_moveit_controller_manager.launch.xml │ │ ├── gazebo.launch │ │ ├── joystick_control.launch │ │ ├── move_group.launch │ │ ├── moveit.rviz │ │ ├── moveit_rviz.launch │ │ ├── ompl_planning_pipeline.launch.xml │ │ ├── pilz_industrial_motion_planner_planning_pipeline.launch.xml │ │ ├── planning_context.launch │ │ ├── planning_pipeline.launch.xml │ │ ├── ros_controllers.launch │ │ ├── run_benchmark_ompl.launch │ │ ├── sensor_manager.launch.xml │ │ ├── setup_assistant.launch │ │ ├── summit_xl_j2n6s200_moveit_config.launch │ │ ├── summit_xl_moveit_controller_manager.launch.xml │ │ ├── summit_xl_moveit_sensor_manager.launch.xml │ │ ├── trajectory_execution.launch.xml │ │ ├── warehouse.launch │ │ └── warehouse_settings.launch.xml │ └── package.xml ├── summit_xl_j2s6s200_moveit_config │ ├── .setup_assistant │ ├── CMakeLists.txt │ ├── config │ │ ├── cartesian_limits.yaml │ │ ├── chomp_planning.yaml │ │ ├── fake_controllers.yaml │ │ ├── joint_limits.yaml │ │ ├── kinematics.yaml │ │ ├── ompl_planning.yaml │ │ ├── ros_controllers.yaml │ │ ├── sensors_3d.yaml │ │ └── summit_xl.srdf │ ├── launch │ │ ├── chomp_planning_pipeline.launch.xml │ │ ├── default_warehouse_db.launch │ │ ├── demo.launch │ │ ├── demo_gazebo.launch │ │ ├── fake_moveit_controller_manager.launch.xml │ │ ├── gazebo.launch │ │ ├── joystick_control.launch │ │ ├── move_group.launch │ │ ├── moveit.rviz │ │ ├── moveit_rviz.launch │ │ ├── ompl_planning_pipeline.launch.xml │ │ ├── pilz_industrial_motion_planner_planning_pipeline.launch.xml │ │ ├── planning_context.launch │ │ ├── planning_pipeline.launch.xml │ │ ├── ros_controllers.launch │ │ ├── run_benchmark_ompl.launch │ │ ├── sensor_manager.launch.xml │ │ ├── setup_assistant.launch │ │ ├── summit_xl_j2s6s200_moveit_config.launch │ │ ├── summit_xl_moveit_controller_manager.launch.xml │ │ ├── summit_xl_moveit_sensor_manager.launch.xml │ │ ├── trajectory_execution.launch.xml │ │ ├── warehouse.launch │ │ └── warehouse_settings.launch.xml │ └── package.xml └── summit_xl_vx300s_moveit_config │ ├── .setup_assistant │ ├── CMakeLists.txt │ ├── config │ ├── cartesian_limits.yaml │ ├── chomp_planning.yaml │ ├── fake_controllers.yaml │ ├── joint_limits.yaml │ ├── kinematics.yaml │ ├── ompl_planning.yaml │ ├── ros_controllers.yaml │ ├── sensors_3d.yaml │ └── summit_xl.srdf │ ├── launch │ ├── chomp_planning_pipeline.launch.xml │ ├── default_warehouse_db.launch │ ├── demo.launch │ ├── demo_gazebo.launch │ ├── fake_moveit_controller_manager.launch.xml │ ├── gazebo.launch │ ├── joystick_control.launch │ ├── move_group.launch │ ├── moveit.rviz │ ├── moveit_rviz.launch │ ├── ompl_planning_pipeline.launch.xml │ ├── pilz_industrial_motion_planner_planning_pipeline.launch.xml │ ├── planning_context.launch │ ├── planning_pipeline.launch.xml │ ├── ros_controllers.launch │ ├── run_benchmark_ompl.launch │ ├── sensor_manager.launch.xml │ ├── setup_assistant.launch │ ├── summit_xl_moveit_controller_manager.launch.xml │ ├── summit_xl_moveit_sensor_manager.launch.xml │ ├── trajectory_execution.launch.xml │ ├── warehouse.launch │ └── warehouse_settings.launch.xml │ └── package.xml ├── summit_xl_common ├── CHANGELOG.rst ├── CMakeLists.txt └── package.xml ├── summit_xl_control ├── CHANGELOG.rst ├── CMakeLists.txt ├── config │ ├── kinova │ │ └── j2s7s300_control.yaml │ ├── robot_control.yaml │ ├── simulation │ │ └── robot_control.yaml │ ├── trossen │ │ └── vx300s_control.yaml │ └── twist_mux.yaml ├── launch │ ├── kinova_control.launch │ ├── summit_xl_control.launch │ └── trossen_control.launch └── package.xml ├── summit_xl_description ├── CHANGELOG.rst ├── CMakeLists.txt ├── launch │ ├── summit_xl_rviz.launch │ └── summit_xl_state_robot.launch ├── meshes │ ├── bases │ │ ├── ext │ │ │ ├── summit_xl_hl_ext_chassis.dae │ │ │ └── summit_xl_hl_ext_chassis.stl │ │ ├── graveyard │ │ │ ├── summit_xl_chassis.stl │ │ │ ├── summit_xl_covers.stl │ │ │ └── summit_xl_logos.stl │ │ ├── hls │ │ │ ├── summit_xl_hls.dae │ │ │ ├── summit_xl_hls.stl │ │ │ ├── summit_xl_hls_a.stl │ │ │ ├── summit_xl_hls_b.stl │ │ │ ├── summit_xls_chassis.dae │ │ │ └── summit_xls_chassis.stl │ │ ├── summit_xl_chassis.dae │ │ ├── summit_xl_chassis.stl │ │ ├── summit_xl_chassis_collision.dae │ │ ├── summit_xl_chassis_copy.dae │ │ ├── summit_xl_chassis_simple.stl │ │ ├── summit_xl_covers.stl │ │ ├── summit_xl_hl_chassis.dae │ │ ├── summit_xl_logos.stl │ │ ├── x │ │ │ ├── summit_x_chassis_down.dae │ │ │ ├── summit_x_chassis_down.stl │ │ │ ├── summit_x_chassis_up.dae │ │ │ ├── summit_x_chassis_up.stl │ │ │ ├── summit_x_scissor_bars_1.dae │ │ │ ├── summit_x_scissor_bars_1.stl │ │ │ ├── summit_x_scissor_bars_2.dae │ │ │ └── summit_x_scissor_bars_2.stl │ │ └── xls │ │ │ ├── robotnik_logo_chasis.stl │ │ │ ├── summit_xls_chapas_inox_tapas.stl │ │ │ ├── summit_xls_chassis.dae │ │ │ ├── summit_xls_chassis.stl │ │ │ ├── summit_xlsk_plus.dae │ │ │ └── summit_xlsk_plus.stl │ ├── structures │ │ ├── chasis_sup_our.stl │ │ ├── mastil_gps.stl │ │ ├── masts_lh.dae │ │ ├── masts_lh.stl │ │ ├── sick_microscan3_support.stl │ │ ├── structure_chair.stl │ │ ├── structure_front_axis_sick.stl │ │ ├── structure_hokuyo.dae │ │ ├── structure_hokuyo.stl │ │ ├── structure_ptz_rgbd_gps.dae │ │ ├── structure_ptz_rgbd_gps.stl │ │ ├── structure_rear_axis.dae │ │ ├── structure_rear_axis.stl │ │ ├── structure_rear_sick.stl │ │ ├── structure_rear_velodyne.dae │ │ └── structure_rear_velodyne.stl │ └── wheels │ │ ├── hls │ │ ├── mecawheel_a_rim.stl │ │ ├── mecawheel_a_rollers.stl │ │ ├── mecawheel_b_rim.stl │ │ └── mecawheel_b_rollers.stl │ │ ├── omni_wheel_1.dae │ │ ├── omni_wheel_2.dae │ │ ├── rubber_wheel_left.dae │ │ └── rubber_wheel_right.dae ├── package.xml ├── robots │ ├── summit_xl_gen_std.urdf.xacro │ ├── summit_xl_std.urdf.xacro │ ├── summit_xl_tix_std.urdf.xacro │ ├── summit_xls_std.urdf.xacro │ └── versions │ │ ├── summit_xl_gen_j2s6s200.urdf.xacro │ │ └── summit_xl_gen_j2s7s300.urdf.xacro ├── urdf │ ├── arms │ │ ├── kinova │ │ │ ├── j2n4s300.xacro │ │ │ ├── j2n6s200.xacro │ │ │ ├── j2n6s300.xacro │ │ │ ├── j2n7s300.xacro │ │ │ ├── j2s6s200.xacro │ │ │ ├── j2s6s300.xacro │ │ │ └── j2s7s300.xacro │ │ └── trossen │ │ │ └── vx300s.xacro │ ├── bases │ │ ├── summit_x_base.urdf.xacro │ │ ├── summit_xl_base.gazebo.xacro │ │ ├── summit_xl_base.urdf.xacro │ │ ├── summit_xl_hl_base.urdf.xacro │ │ ├── summit_xl_hl_ext_base.urdf.xacro │ │ ├── summit_xl_hls_base.urdf.xacro │ │ ├── summit_xls_base.urdf.xacro │ │ └── summit_xlsk_base_plus.urdf.xacro │ ├── structures │ │ ├── sick_microscan3_support.urdf.xacro │ │ ├── structure_chair.urdf.xacro │ │ ├── structure_chasis_sup_our.urdf.xacro │ │ ├── structure_front_axis_sick.urdf.xacro │ │ ├── structure_gps.urdf.xacro │ │ ├── structure_hokuyo.urdf.xacro │ │ ├── structure_ptz_rgbd_gps.urdf.xacro │ │ ├── structure_rear_axis.urdf.xacro │ │ ├── structure_rear_sick.urdf.xacro │ │ └── structure_rear_velodyne.urdf.xacro │ └── wheels │ │ ├── basic_wheel.urdf.xacro │ │ ├── omni_wheel.urdf.xacro │ │ └── rubber_wheel.urdf.xacro └── vrep │ ├── Robotnik_Summit_XL.ttt │ ├── Robotnik_Summit_XL_STD.ttm │ └── version.txt ├── summit_xl_localization ├── CHANGELOG.rst ├── CMakeLists.txt ├── config │ ├── amcl.yaml │ └── slam_gmapping.yaml ├── launch │ ├── amcl.launch │ ├── localization_complete.launch │ ├── map_saver.launch │ ├── map_server.launch │ ├── navsat_transform_node.launch │ ├── rl_utils.launch │ ├── robot_localization_complete.launch │ ├── robot_localization_odom.launch │ ├── robot_localization_world.launch │ └── slam_gmapping.launch ├── maps │ ├── demo │ │ ├── demo.pgm │ │ └── demo.yaml │ ├── empty │ │ ├── map_empty.pgm │ │ └── map_empty.yaml │ ├── rbk_warehouse │ │ ├── rbk_warehouse.png │ │ └── rbk_warehouse.yaml │ ├── robotnik │ │ ├── robotnik.pgm │ │ ├── robotnik.png │ │ ├── robotnik.yaml │ │ ├── robotnik_small.pgm │ │ └── robotnik_vert.pgm │ └── willow_garage │ │ ├── willow_garage.pgm │ │ └── willow_garage.yaml ├── package.xml └── scripts │ ├── imu_quat_to_rpy.py │ ├── odom_to_pose_rpy.py │ ├── save_map.sh │ ├── set_datum.sh │ └── test.py ├── summit_xl_navigation ├── CHANGELOG.rst ├── CMakeLists.txt ├── config │ ├── base_local_planner_params.yaml │ ├── costmap_common_params.yaml │ ├── docking │ │ ├── diff_docker.yaml │ │ ├── omni_docker.yaml │ │ └── pp_docker.yaml │ ├── eband_global_costmap_params.yaml │ ├── eband_local_planner_diff_params.yaml │ ├── eband_local_planner_omni_params.yaml │ ├── global_costmap_params_map.yaml │ ├── global_planner_params.yaml │ ├── local_costmap_params.yaml │ ├── move.yaml │ ├── move_base_params.yaml │ ├── planner_footprints │ │ ├── rbkairos.yaml │ │ ├── summit_xl.yaml │ │ └── summit_xl_steel.yaml │ ├── rgbd_to_scan_filter.yaml │ ├── scan_filter.yaml │ ├── teb_local_planner_diff_params.yaml │ └── teb_local_planner_omni_params.yaml ├── config_rviz │ └── rviz_satellite.rviz ├── launch │ ├── dockers.launch │ ├── move.launch │ ├── move_base.launch │ ├── move_base_eband.launch │ ├── move_base_teb.launch │ ├── navigation_complete.launch │ ├── rgbd_to_laserscan.launch │ ├── rviz_satellite.launch │ ├── scan_filter.launch │ └── tf_publishers.launch └── package.xml └── summit_xl_pad ├── .svn ├── entries ├── format ├── pristine │ ├── 25 │ │ └── 2566a21c037a4185ef64aceff30bf085c6f5bb6e.svn-base │ ├── 94 │ │ └── 94eb45ee6bb3f2773656a1933dad1bf1866db671.svn-base │ ├── 97 │ │ └── 97e47be355f5d618b9cbce2f91501fd7d1a2aab1.svn-base │ ├── 98 │ │ └── 98aae4ef4be676b93e274a241dd94e9cd464ed3a.svn-base │ ├── 7a │ │ └── 7adba587afe98b08c226fef31ff3c0363ddd3f50.svn-base │ ├── b8 │ │ └── b8b16d9c1eb1ee317d4cb37debbf0aeaada82f32.svn-base │ ├── ca │ │ └── cafca5cfae770816ce022d4ba40e29a086d02c34.svn-base │ ├── df │ │ └── df607f1a4c2967df580ba56d5477d317399b9143.svn-base │ └── fb │ │ └── fbaca4bc98cf09bf5e62b1ad166e3e58e3ab3523.svn-base └── wc.db ├── CHANGELOG.rst ├── CMakeLists.txt ├── config ├── logitechf710.yaml ├── ps3.yaml ├── ps4.yaml ├── thrustmaster.yaml └── xbox360.yaml ├── launch └── summit_xl_pad.launch ├── package.xml ├── src └── summit_xl_pad.cpp └── srv └── enable_disable_pad.srv /.gitignore: -------------------------------------------------------------------------------- 1 | *~ 2 | 3 | # Ignore pyc files 4 | *.pyc 5 | 6 | # Ignore vscode folder 7 | .vscode/ 8 | 9 | # Ignore temporal files from .deb generation 10 | *.ddeb 11 | -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- 1 | Copyright (c) 2015, Robotnik Automation 2 | All rights reserved. 3 | 4 | Redistribution and use in source and binary forms, with or without 5 | modification, are permitted provided that the following conditions are met: 6 | 7 | * Redistributions of source code must retain the above copyright notice, this 8 | list of conditions and the following disclaimer. 9 | 10 | * Redistributions in binary form must reproduce the above copyright notice, 11 | this list of conditions and the following disclaimer in the documentation 12 | and/or other materials provided with the distribution. 13 | 14 | THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 15 | AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 16 | IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE 17 | DISCLAIMED. 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/moveit/summit_xl_j2n6s200_moveit_config/.setup_assistant: -------------------------------------------------------------------------------- 1 | moveit_setup_assistant_config: 2 | URDF: 3 | package: summit_xl_description 4 | relative_path: robots/versions/summit_xl_gen_j2n6s200.urdf.xacro 5 | xacro_args: prefix:=robot_ 6 | SRDF: 7 | relative_path: config/summit_xl.srdf 8 | CONFIG: 9 | author_name: José Gómez Gadea 10 | author_email: jgomez@robotnik.es 11 | generated_timestamp: 1628108762 12 | -------------------------------------------------------------------------------- /moveit/summit_xl_j2n6s200_moveit_config/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 3.1.3) 2 | project(summit_xl_j2n6s200_moveit_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 | -------------------------------------------------------------------------------- /moveit/summit_xl_j2n6s200_moveit_config/config/cartesian_limits.yaml: -------------------------------------------------------------------------------- 1 | cartesian_limits: 2 | max_trans_vel: 1 3 | max_trans_acc: 2.25 4 | max_trans_dec: -5 5 | max_rot_vel: 1.57 6 | -------------------------------------------------------------------------------- /moveit/summit_xl_j2n6s200_moveit_config/config/chomp_planning.yaml: -------------------------------------------------------------------------------- 1 | planning_time_limit: 10.0 2 | max_iterations: 200 3 | max_iterations_after_collision_free: 5 4 | smoothness_cost_weight: 0.1 5 | obstacle_cost_weight: 1.0 6 | learning_rate: 0.01 7 | smoothness_cost_velocity: 0.0 8 | smoothness_cost_acceleration: 1.0 9 | smoothness_cost_jerk: 0.0 10 | ridge_factor: 0.01 11 | use_pseudo_inverse: false 12 | pseudo_inverse_ridge_factor: 1e-4 13 | joint_update_limit: 0.1 14 | collision_clearence: 0.2 15 | collision_threshold: 0.07 16 | use_stochastic_descent: true 17 | enable_failure_recovery: true 18 | max_recovery_attempts: 5 -------------------------------------------------------------------------------- /moveit/summit_xl_j2n6s200_moveit_config/config/fake_controllers.yaml: -------------------------------------------------------------------------------- 1 | controller_list: 2 | - name: fake_j2n6s200_controller 3 | type: $(arg execution_type) 4 | joints: 5 | - robot_j2n6s200_joint_1 6 | - robot_j2n6s200_joint_2 7 | - robot_j2n6s200_joint_3 8 | - robot_j2n6s200_joint_4 9 | - robot_j2n6s200_joint_5 10 | - robot_j2n6s200_joint_6 11 | - name: fake_j2n6s200_gripper_controller 12 | type: $(arg execution_type) 13 | joints: 14 | - robot_j2n6s200_joint_finger_1 15 | - robot_j2n6s200_joint_finger_tip_1 16 | - robot_j2n6s200_joint_finger_2 17 | - robot_j2n6s200_joint_finger_tip_2 18 | initial: # Define initial robot poses. 19 | - group: j2n6s200 20 | pose: home -------------------------------------------------------------------------------- /moveit/summit_xl_j2n6s200_moveit_config/config/joint_limits.yaml: -------------------------------------------------------------------------------- 1 | # joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed 2 | # Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration] 3 | # Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits] 4 | joint_limits: 5 | robot_j2n6s200_joint_1: 6 | has_velocity_limits: true 7 | max_velocity: 0.628318530718 8 | has_acceleration_limits: false 9 | max_acceleration: 0 10 | robot_j2n6s200_joint_2: 11 | has_velocity_limits: true 12 | max_velocity: 0.628318530718 13 | has_acceleration_limits: false 14 | max_acceleration: 0 15 | robot_j2n6s200_joint_3: 16 | has_velocity_limits: true 17 | max_velocity: 0.628318530718 18 | has_acceleration_limits: false 19 | max_acceleration: 0 20 | robot_j2n6s200_joint_4: 21 | has_velocity_limits: true 22 | max_velocity: 0.837758040957 23 | has_acceleration_limits: false 24 | max_acceleration: 0 25 | robot_j2n6s200_joint_5: 26 | has_velocity_limits: true 27 | max_velocity: 0.837758040957 28 | has_acceleration_limits: false 29 | max_acceleration: 0 30 | robot_j2n6s200_joint_6: 31 | has_velocity_limits: true 32 | max_velocity: 0.837758040957 33 | has_acceleration_limits: false 34 | max_acceleration: 0 35 | robot_j2n6s200_joint_finger_1: 36 | has_velocity_limits: true 37 | max_velocity: 1 38 | has_acceleration_limits: false 39 | max_acceleration: 0 40 | robot_j2n6s200_joint_finger_2: 41 | has_velocity_limits: true 42 | max_velocity: 1 43 | has_acceleration_limits: false 44 | max_acceleration: 0 45 | robot_j2n6s200_joint_finger_tip_1: 46 | has_velocity_limits: true 47 | max_velocity: 1 48 | has_acceleration_limits: false 49 | max_acceleration: 0 50 | robot_j2n6s200_joint_finger_tip_2: 51 | has_velocity_limits: true 52 | max_velocity: 1 53 | has_acceleration_limits: false 54 | max_acceleration: 0 -------------------------------------------------------------------------------- /moveit/summit_xl_j2n6s200_moveit_config/config/kinematics.yaml: -------------------------------------------------------------------------------- 1 | j2n6s200: 2 | kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin 3 | kinematics_solver_search_resolution: 0.005 4 | kinematics_solver_timeout: 0.005 -------------------------------------------------------------------------------- /moveit/summit_xl_j2n6s200_moveit_config/config/ros_controllers.yaml: -------------------------------------------------------------------------------- 1 | # Simulation settings for using moveit_sim_controllers 2 | moveit_sim_hw_interface: 3 | joint_model_group: j2n6s200 4 | joint_model_group_pose: home 5 | # Settings for ros_control_boilerplate control loop 6 | generic_hw_control_loop: 7 | loop_hz: 300 8 | cycle_time_error_threshold: 0.01 9 | # Settings for ros_control hardware interface 10 | hardware_interface: 11 | joints: 12 | - robot_j2n6s200_joint_1 13 | - robot_j2n6s200_joint_2 14 | - robot_j2n6s200_joint_3 15 | - robot_j2n6s200_joint_4 16 | - robot_j2n6s200_joint_5 17 | - robot_j2n6s200_joint_6 18 | - robot_j2n6s200_joint_finger_1 19 | - robot_j2n6s200_joint_finger_tip_1 20 | - robot_j2n6s200_joint_finger_2 21 | - robot_j2n6s200_joint_finger_tip_2 22 | sim_control_mode: 1 # 0: position, 1: velocity 23 | # Publish all joint states 24 | # Creates the /joint_states topic necessary in ROS 25 | joint_state_controller: 26 | type: joint_state_controller/JointStateController 27 | publish_rate: 50 28 | controller_list: 29 | - name: j2n6s200_arm_controller 30 | action_ns: follow_joint_trajectory 31 | default: True 32 | type: FollowJointTrajectory 33 | joints: 34 | - robot_j2n6s200_joint_1 35 | - robot_j2n6s200_joint_2 36 | - robot_j2n6s200_joint_3 37 | - robot_j2n6s200_joint_4 38 | - robot_j2n6s200_joint_5 39 | - robot_j2n6s200_joint_6 40 | -------------------------------------------------------------------------------- /moveit/summit_xl_j2n6s200_moveit_config/config/sensors_3d.yaml: -------------------------------------------------------------------------------- 1 | # The name of this file shouldn't be changed, or else the Setup Assistant won't detect it 2 | sensors: 3 | - filtered_cloud_topic: filtered_cloud 4 | max_range: 5.0 5 | max_update_rate: 1.0 6 | padding_offset: 0.1 7 | padding_scale: 1.0 8 | point_cloud_topic: /robot/front_rgbd_camera/depth/points 9 | point_subsample: 1 10 | sensor_plugin: occupancy_map_monitor/PointCloudOctomapUpdater -------------------------------------------------------------------------------- /moveit/summit_xl_j2n6s200_moveit_config/launch/chomp_planning_pipeline.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 14 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | -------------------------------------------------------------------------------- /moveit/summit_xl_j2n6s200_moveit_config/launch/default_warehouse_db.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | -------------------------------------------------------------------------------- /moveit/summit_xl_j2n6s200_moveit_config/launch/fake_moveit_controller_manager.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | -------------------------------------------------------------------------------- /moveit/summit_xl_j2n6s200_moveit_config/launch/gazebo.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 20 | 21 | 22 | 23 | 24 | -------------------------------------------------------------------------------- /moveit/summit_xl_j2n6s200_moveit_config/launch/joystick_control.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | -------------------------------------------------------------------------------- /moveit/summit_xl_j2n6s200_moveit_config/launch/moveit_rviz.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 13 | 14 | 15 | 16 | -------------------------------------------------------------------------------- /moveit/summit_xl_j2n6s200_moveit_config/launch/ompl_planning_pipeline.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 14 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | -------------------------------------------------------------------------------- /moveit/summit_xl_j2n6s200_moveit_config/launch/pilz_industrial_motion_planner_planning_pipeline.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 27 | 28 | 29 | -------------------------------------------------------------------------------- /moveit/summit_xl_j2n6s200_moveit_config/launch/planning_context.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | -------------------------------------------------------------------------------- /moveit/summit_xl_j2n6s200_moveit_config/launch/planning_pipeline.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | -------------------------------------------------------------------------------- /moveit/summit_xl_j2n6s200_moveit_config/launch/ros_controllers.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 10 | 11 | 12 | -------------------------------------------------------------------------------- /moveit/summit_xl_j2n6s200_moveit_config/launch/run_benchmark_ompl.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | -------------------------------------------------------------------------------- /moveit/summit_xl_j2n6s200_moveit_config/launch/sensor_manager.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | -------------------------------------------------------------------------------- /moveit/summit_xl_j2n6s200_moveit_config/launch/setup_assistant.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 14 | 15 | 16 | -------------------------------------------------------------------------------- /moveit/summit_xl_j2n6s200_moveit_config/launch/summit_xl_j2n6s200_moveit_config.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | -------------------------------------------------------------------------------- /moveit/summit_xl_j2n6s200_moveit_config/launch/summit_xl_moveit_controller_manager.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | -------------------------------------------------------------------------------- /moveit/summit_xl_j2n6s200_moveit_config/launch/summit_xl_moveit_sensor_manager.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | -------------------------------------------------------------------------------- /moveit/summit_xl_j2n6s200_moveit_config/launch/trajectory_execution.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | -------------------------------------------------------------------------------- /moveit/summit_xl_j2n6s200_moveit_config/launch/warehouse.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | -------------------------------------------------------------------------------- /moveit/summit_xl_j2n6s200_moveit_config/launch/warehouse_settings.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | -------------------------------------------------------------------------------- /moveit/summit_xl_j2n6s200_moveit_config/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | summit_xl_j2n6s200_moveit_config 4 | 0.3.0 5 | 6 | An automatically generated package with all the configuration and launch files for using the summit_xl with the MoveIt! Motion Planning Framework 7 | 8 | José Gómez Gadea 9 | José Gómez Gadea 10 | 11 | BSD 12 | 13 | http://moveit.ros.org/ 14 | https://github.com/ros-planning/moveit/issues 15 | https://github.com/ros-planning/moveit 16 | 17 | catkin 18 | 19 | moveit_ros_move_group 20 | moveit_fake_controller_manager 21 | moveit_kinematics 22 | moveit_planners_ompl 23 | moveit_ros_visualization 24 | moveit_setup_assistant 25 | moveit_simple_controller_manager 26 | joint_state_publisher 27 | joint_state_publisher_gui 28 | robot_state_publisher 29 | rviz 30 | tf2_ros 31 | xacro 32 | 33 | 34 | summit_xl_description 35 | 36 | 37 | 38 | -------------------------------------------------------------------------------- /moveit/summit_xl_j2s6s200_moveit_config/.setup_assistant: -------------------------------------------------------------------------------- 1 | moveit_setup_assistant_config: 2 | URDF: 3 | package: summit_xl_description 4 | relative_path: robots/SXL00-210422AA.urdf.xacro 5 | xacro_args: "" 6 | SRDF: 7 | relative_path: config/summit_xl.srdf 8 | CONFIG: 9 | author_name: José Gómez Gadea 10 | author_email: jgomez@robotnik.es 11 | generated_timestamp: 1626850112 -------------------------------------------------------------------------------- /moveit/summit_xl_j2s6s200_moveit_config/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 3.1.3) 2 | project(summit_xl_j2s6s200_moveit_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 | -------------------------------------------------------------------------------- /moveit/summit_xl_j2s6s200_moveit_config/config/cartesian_limits.yaml: -------------------------------------------------------------------------------- 1 | cartesian_limits: 2 | max_trans_vel: 1 3 | max_trans_acc: 2.25 4 | max_trans_dec: -5 5 | max_rot_vel: 1.57 6 | -------------------------------------------------------------------------------- /moveit/summit_xl_j2s6s200_moveit_config/config/chomp_planning.yaml: -------------------------------------------------------------------------------- 1 | planning_time_limit: 10.0 2 | max_iterations: 200 3 | max_iterations_after_collision_free: 5 4 | smoothness_cost_weight: 0.1 5 | obstacle_cost_weight: 1.0 6 | learning_rate: 0.01 7 | smoothness_cost_velocity: 0.0 8 | smoothness_cost_acceleration: 1.0 9 | smoothness_cost_jerk: 0.0 10 | ridge_factor: 0.01 11 | use_pseudo_inverse: false 12 | pseudo_inverse_ridge_factor: 1e-4 13 | joint_update_limit: 0.1 14 | collision_clearence: 0.2 15 | collision_threshold: 0.07 16 | use_stochastic_descent: true 17 | enable_failure_recovery: true 18 | max_recovery_attempts: 5 -------------------------------------------------------------------------------- /moveit/summit_xl_j2s6s200_moveit_config/config/fake_controllers.yaml: -------------------------------------------------------------------------------- 1 | controller_list: 2 | - name: fake_j2s6s200_controller 3 | type: $(arg execution_type) 4 | joints: 5 | - robot_j2s6s200_joint_1 6 | - robot_j2s6s200_joint_2 7 | - robot_j2s6s200_joint_3 8 | - robot_j2s6s200_joint_4 9 | - robot_j2s6s200_joint_5 10 | - robot_j2s6s200_joint_6 11 | - name: fake_j2s6s200_gripper_controller 12 | type: $(arg execution_type) 13 | joints: 14 | - robot_j2s6s200_joint_finger_1 15 | - robot_j2s6s200_joint_finger_tip_1 16 | - robot_j2s6s200_joint_finger_2 17 | - robot_j2s6s200_joint_finger_tip_2 18 | initial: # Define initial robot poses. 19 | - group: j2s6s200 20 | pose: home -------------------------------------------------------------------------------- /moveit/summit_xl_j2s6s200_moveit_config/config/joint_limits.yaml: -------------------------------------------------------------------------------- 1 | # joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed 2 | # Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration] 3 | # Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits] 4 | joint_limits: 5 | robot_j2s6s200_joint_1: 6 | has_velocity_limits: true 7 | max_velocity: 0.628318530718 8 | has_acceleration_limits: false 9 | max_acceleration: 0 10 | robot_j2s6s200_joint_2: 11 | has_velocity_limits: true 12 | max_velocity: 0.628318530718 13 | has_acceleration_limits: false 14 | max_acceleration: 0 15 | robot_j2s6s200_joint_3: 16 | has_velocity_limits: true 17 | max_velocity: 0.628318530718 18 | has_acceleration_limits: false 19 | max_acceleration: 0 20 | robot_j2s6s200_joint_4: 21 | has_velocity_limits: true 22 | max_velocity: 0.837758040957 23 | has_acceleration_limits: false 24 | max_acceleration: 0 25 | robot_j2s6s200_joint_5: 26 | has_velocity_limits: true 27 | max_velocity: 0.837758040957 28 | has_acceleration_limits: false 29 | max_acceleration: 0 30 | robot_j2s6s200_joint_6: 31 | has_velocity_limits: true 32 | max_velocity: 0.837758040957 33 | has_acceleration_limits: false 34 | max_acceleration: 0 35 | robot_j2s6s200_joint_finger_1: 36 | has_velocity_limits: true 37 | max_velocity: 1 38 | has_acceleration_limits: false 39 | max_acceleration: 0 40 | robot_j2s6s200_joint_finger_2: 41 | has_velocity_limits: true 42 | max_velocity: 1 43 | has_acceleration_limits: false 44 | max_acceleration: 0 45 | robot_j2s6s200_joint_finger_tip_1: 46 | has_velocity_limits: true 47 | max_velocity: 1 48 | has_acceleration_limits: false 49 | max_acceleration: 0 50 | robot_j2s6s200_joint_finger_tip_2: 51 | has_velocity_limits: true 52 | max_velocity: 1 53 | has_acceleration_limits: false 54 | max_acceleration: 0 -------------------------------------------------------------------------------- /moveit/summit_xl_j2s6s200_moveit_config/config/kinematics.yaml: -------------------------------------------------------------------------------- 1 | j2s6s200: 2 | kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin 3 | kinematics_solver_search_resolution: 0.005 4 | kinematics_solver_timeout: 0.005 -------------------------------------------------------------------------------- /moveit/summit_xl_j2s6s200_moveit_config/config/ros_controllers.yaml: -------------------------------------------------------------------------------- 1 | # Simulation settings for using moveit_sim_controllers 2 | moveit_sim_hw_interface: 3 | joint_model_group: j2s6s200 4 | joint_model_group_pose: home 5 | # Settings for ros_control_boilerplate control loop 6 | generic_hw_control_loop: 7 | loop_hz: 300 8 | cycle_time_error_threshold: 0.01 9 | # Settings for ros_control hardware interface 10 | hardware_interface: 11 | joints: 12 | - robot_j2s6s200_joint_1 13 | - robot_j2s6s200_joint_2 14 | - robot_j2s6s200_joint_3 15 | - robot_j2s6s200_joint_4 16 | - robot_j2s6s200_joint_5 17 | - robot_j2s6s200_joint_6 18 | - robot_j2s6s200_joint_finger_1 19 | - robot_j2s6s200_joint_finger_tip_1 20 | - robot_j2s6s200_joint_finger_2 21 | - robot_j2s6s200_joint_finger_tip_2 22 | sim_control_mode: 1 # 0: position, 1: velocity 23 | # Publish all joint states 24 | # Creates the /joint_states topic necessary in ROS 25 | joint_state_controller: 26 | type: joint_state_controller/JointStateController 27 | publish_rate: 50 28 | controller_list: 29 | - name: j2s6s200_arm_controller 30 | action_ns: follow_joint_trajectory 31 | default: True 32 | type: FollowJointTrajectory 33 | joints: 34 | - robot_j2s6s200_joint_1 35 | - robot_j2s6s200_joint_2 36 | - robot_j2s6s200_joint_3 37 | - robot_j2s6s200_joint_4 38 | - robot_j2s6s200_joint_5 39 | - robot_j2s6s200_joint_6 -------------------------------------------------------------------------------- /moveit/summit_xl_j2s6s200_moveit_config/config/sensors_3d.yaml: -------------------------------------------------------------------------------- 1 | # The name of this file shouldn't be changed, or else the Setup Assistant won't detect it 2 | sensors: 3 | - filtered_cloud_topic: filtered_cloud 4 | max_range: 5.0 5 | max_update_rate: 1.0 6 | padding_offset: 0.1 7 | padding_scale: 1.0 8 | point_cloud_topic: /robot/front_rgbd_camera/depth/color/points 9 | point_subsample: 1 10 | sensor_plugin: occupancy_map_monitor/PointCloudOctomapUpdater -------------------------------------------------------------------------------- /moveit/summit_xl_j2s6s200_moveit_config/launch/chomp_planning_pipeline.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 14 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | -------------------------------------------------------------------------------- /moveit/summit_xl_j2s6s200_moveit_config/launch/default_warehouse_db.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | -------------------------------------------------------------------------------- /moveit/summit_xl_j2s6s200_moveit_config/launch/fake_moveit_controller_manager.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | -------------------------------------------------------------------------------- /moveit/summit_xl_j2s6s200_moveit_config/launch/gazebo.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 20 | 21 | 22 | 23 | 24 | -------------------------------------------------------------------------------- /moveit/summit_xl_j2s6s200_moveit_config/launch/joystick_control.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | -------------------------------------------------------------------------------- /moveit/summit_xl_j2s6s200_moveit_config/launch/moveit_rviz.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 13 | 14 | 15 | 16 | -------------------------------------------------------------------------------- /moveit/summit_xl_j2s6s200_moveit_config/launch/ompl_planning_pipeline.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 14 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | -------------------------------------------------------------------------------- /moveit/summit_xl_j2s6s200_moveit_config/launch/pilz_industrial_motion_planner_planning_pipeline.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 27 | 28 | 29 | -------------------------------------------------------------------------------- /moveit/summit_xl_j2s6s200_moveit_config/launch/planning_context.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | -------------------------------------------------------------------------------- /moveit/summit_xl_j2s6s200_moveit_config/launch/planning_pipeline.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | -------------------------------------------------------------------------------- /moveit/summit_xl_j2s6s200_moveit_config/launch/ros_controllers.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 10 | 11 | 12 | -------------------------------------------------------------------------------- /moveit/summit_xl_j2s6s200_moveit_config/launch/run_benchmark_ompl.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | -------------------------------------------------------------------------------- /moveit/summit_xl_j2s6s200_moveit_config/launch/sensor_manager.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | -------------------------------------------------------------------------------- /moveit/summit_xl_j2s6s200_moveit_config/launch/setup_assistant.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 14 | 15 | 16 | -------------------------------------------------------------------------------- /moveit/summit_xl_j2s6s200_moveit_config/launch/summit_xl_j2s6s200_moveit_config.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | -------------------------------------------------------------------------------- /moveit/summit_xl_j2s6s200_moveit_config/launch/summit_xl_moveit_controller_manager.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | -------------------------------------------------------------------------------- /moveit/summit_xl_j2s6s200_moveit_config/launch/summit_xl_moveit_sensor_manager.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | -------------------------------------------------------------------------------- /moveit/summit_xl_j2s6s200_moveit_config/launch/trajectory_execution.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | -------------------------------------------------------------------------------- /moveit/summit_xl_j2s6s200_moveit_config/launch/warehouse.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | -------------------------------------------------------------------------------- /moveit/summit_xl_j2s6s200_moveit_config/launch/warehouse_settings.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | -------------------------------------------------------------------------------- /moveit/summit_xl_j2s6s200_moveit_config/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | summit_xl_j2s6s200_moveit_config 4 | 0.3.0 5 | 6 | An automatically generated package with all the configuration and launch files for using the summit_xl with the MoveIt! Motion Planning Framework 7 | 8 | José Gómez Gadea 9 | José Gómez Gadea 10 | 11 | BSD 12 | 13 | http://moveit.ros.org/ 14 | https://github.com/ros-planning/moveit/issues 15 | https://github.com/ros-planning/moveit 16 | 17 | catkin 18 | 19 | moveit_ros_move_group 20 | moveit_fake_controller_manager 21 | moveit_kinematics 22 | moveit_planners_ompl 23 | moveit_ros_visualization 24 | moveit_setup_assistant 25 | moveit_simple_controller_manager 26 | joint_state_publisher 27 | joint_state_publisher_gui 28 | robot_state_publisher 29 | rviz 30 | tf2_ros 31 | xacro 32 | 33 | 34 | summit_xl_description 35 | 36 | 37 | 38 | -------------------------------------------------------------------------------- /moveit/summit_xl_vx300s_moveit_config/.setup_assistant: -------------------------------------------------------------------------------- 1 | moveit_setup_assistant_config: 2 | URDF: 3 | package: summit_xl_description 4 | relative_path: robots/summit_xl_tix_std.urdf.xacro 5 | xacro_args: prefix:=robot_ omni_wheels:=false 6 | SRDF: 7 | relative_path: config/summit_xl.srdf 8 | CONFIG: 9 | author_name: Robert Vasquez Zavaleta 10 | author_email: rvasquez@robotnik.es 11 | generated_timestamp: 1627577233 -------------------------------------------------------------------------------- /moveit/summit_xl_vx300s_moveit_config/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 3.1.3) 2 | project(summit_xl_vx300s_moveit_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 | -------------------------------------------------------------------------------- /moveit/summit_xl_vx300s_moveit_config/config/cartesian_limits.yaml: -------------------------------------------------------------------------------- 1 | cartesian_limits: 2 | max_trans_vel: 1 3 | max_trans_acc: 2.25 4 | max_trans_dec: -5 5 | max_rot_vel: 1.57 6 | -------------------------------------------------------------------------------- /moveit/summit_xl_vx300s_moveit_config/config/chomp_planning.yaml: -------------------------------------------------------------------------------- 1 | planning_time_limit: 10.0 2 | max_iterations: 200 3 | max_iterations_after_collision_free: 5 4 | smoothness_cost_weight: 0.1 5 | obstacle_cost_weight: 1.0 6 | learning_rate: 0.01 7 | smoothness_cost_velocity: 0.0 8 | smoothness_cost_acceleration: 1.0 9 | smoothness_cost_jerk: 0.0 10 | ridge_factor: 0.01 11 | use_pseudo_inverse: false 12 | pseudo_inverse_ridge_factor: 1e-4 13 | joint_update_limit: 0.1 14 | collision_clearence: 0.2 15 | collision_threshold: 0.07 16 | use_stochastic_descent: true 17 | enable_failure_recovery: true 18 | max_recovery_attempts: 5 -------------------------------------------------------------------------------- /moveit/summit_xl_vx300s_moveit_config/config/fake_controllers.yaml: -------------------------------------------------------------------------------- 1 | controller_list: 2 | - name: fake_arm_controller 3 | type: $(arg execution_type) 4 | joints: 5 | - robot_arm_waist_joint 6 | - robot_arm_shoulder_joint 7 | - robot_arm_elbow_joint 8 | - robot_arm_forearm_roll_joint 9 | - robot_arm_wrist_angle_joint 10 | - robot_arm_wrist_rotate_joint 11 | - name: fake_arm_gripper_controller 12 | type: $(arg execution_type) 13 | joints: 14 | - robot_arm_left_finger_joint 15 | initial: # Define initial robot poses. 16 | - group: arm 17 | pose: home 18 | - group: gripper 19 | pose: sleep -------------------------------------------------------------------------------- /moveit/summit_xl_vx300s_moveit_config/config/joint_limits.yaml: -------------------------------------------------------------------------------- 1 | # joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed 2 | # Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration] 3 | # Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits] 4 | joint_limits: 5 | robot_arm_elbow_joint: 6 | has_velocity_limits: true 7 | max_velocity: 3.14159265359 8 | has_acceleration_limits: false 9 | max_acceleration: 0 10 | robot_arm_forearm_roll_joint: 11 | has_velocity_limits: true 12 | max_velocity: 3.14159265359 13 | has_acceleration_limits: false 14 | max_acceleration: 0 15 | robot_arm_left_finger_joint: 16 | has_velocity_limits: true 17 | max_velocity: 1 18 | has_acceleration_limits: false 19 | max_acceleration: 0 20 | robot_arm_shoulder_joint: 21 | has_velocity_limits: true 22 | max_velocity: 3.14159265359 23 | has_acceleration_limits: false 24 | max_acceleration: 0 25 | robot_arm_waist_joint: 26 | has_velocity_limits: true 27 | max_velocity: 3.14159265359 28 | has_acceleration_limits: false 29 | max_acceleration: 0 30 | robot_arm_wrist_angle_joint: 31 | has_velocity_limits: true 32 | max_velocity: 3.14159265359 33 | has_acceleration_limits: false 34 | max_acceleration: 0 35 | robot_arm_wrist_rotate_joint: 36 | has_velocity_limits: true 37 | max_velocity: 3.14159265359 38 | has_acceleration_limits: false 39 | max_acceleration: 0 -------------------------------------------------------------------------------- /moveit/summit_xl_vx300s_moveit_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 | gripper: 6 | kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin 7 | kinematics_solver_search_resolution: 0.005 8 | kinematics_solver_timeout: 0.005 -------------------------------------------------------------------------------- /moveit/summit_xl_vx300s_moveit_config/config/ros_controllers.yaml: -------------------------------------------------------------------------------- 1 | # Simulation settings for using moveit_sim_controllers 2 | moveit_sim_hw_interface: 3 | joint_model_group: arm 4 | joint_model_group_pose: home 5 | # Settings for ros_control_boilerplate control loop 6 | generic_hw_control_loop: 7 | loop_hz: 300 8 | cycle_time_error_threshold: 0.01 9 | # Settings for ros_control hardware interface 10 | hardware_interface: 11 | joints: 12 | - robot_arm_waist_joint 13 | - robot_arm_shoulder_joint 14 | - robot_arm_elbow_joint 15 | - robot_arm_forearm_roll_joint 16 | - robot_arm_wrist_angle_joint 17 | - robot_arm_wrist_rotate_joint 18 | 19 | sim_control_mode: 1 # 0: position, 1: velocity 20 | # Publish all joint states 21 | # Creates the /joint_states topic necessary in ROS 22 | joint_state_controller: 23 | type: joint_state_controller/JointStateController 24 | publish_rate: 50 25 | controller_list: 26 | - name: arm_controller 27 | action_ns: follow_joint_trajectory 28 | default: True 29 | type: FollowJointTrajectory 30 | joints: 31 | - robot_arm_waist_joint 32 | - robot_arm_shoulder_joint 33 | - robot_arm_elbow_joint 34 | - robot_arm_forearm_roll_joint 35 | - robot_arm_wrist_angle_joint 36 | - robot_arm_wrist_rotate_joint 37 | - name: gripper_controller 38 | action_ns: follow_joint_trajectory 39 | default: True 40 | type: FollowJointTrajectory 41 | joints: 42 | - robot_arm_left_finger_joint -------------------------------------------------------------------------------- /moveit/summit_xl_vx300s_moveit_config/config/sensors_3d.yaml: -------------------------------------------------------------------------------- 1 | # The name of this file shouldn't be changed, or else the Setup Assistant won't detect it 2 | sensors: 3 | - far_clipping_plane_distance: 2.0 4 | filtered_cloud_topic: filtered_cloud 5 | image_topic: /robot/wrist_rgbd_camera/depth/image_raw 6 | max_range: 5.0 7 | max_update_rate: 1.0 8 | near_clipping_plane_distance: 0.15 9 | padding_offset: 0.03 10 | padding_scale: 4.0 11 | point_cloud_topic: /head_mount_kinect/depth_registered/points 12 | point_subsample: 1 13 | queue_size: 5 14 | sensor_plugin: occupancy_map_monitor/DepthImageOctomapUpdater 15 | shadow_threshold: 0.2 -------------------------------------------------------------------------------- /moveit/summit_xl_vx300s_moveit_config/launch/chomp_planning_pipeline.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 14 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | -------------------------------------------------------------------------------- /moveit/summit_xl_vx300s_moveit_config/launch/default_warehouse_db.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | -------------------------------------------------------------------------------- /moveit/summit_xl_vx300s_moveit_config/launch/fake_moveit_controller_manager.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | -------------------------------------------------------------------------------- /moveit/summit_xl_vx300s_moveit_config/launch/gazebo.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 20 | 21 | 22 | 23 | 24 | -------------------------------------------------------------------------------- /moveit/summit_xl_vx300s_moveit_config/launch/joystick_control.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | -------------------------------------------------------------------------------- /moveit/summit_xl_vx300s_moveit_config/launch/moveit_rviz.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 13 | 14 | 15 | 16 | -------------------------------------------------------------------------------- /moveit/summit_xl_vx300s_moveit_config/launch/ompl_planning_pipeline.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 14 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | -------------------------------------------------------------------------------- /moveit/summit_xl_vx300s_moveit_config/launch/pilz_industrial_motion_planner_planning_pipeline.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 27 | 28 | 29 | -------------------------------------------------------------------------------- /moveit/summit_xl_vx300s_moveit_config/launch/planning_context.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | -------------------------------------------------------------------------------- /moveit/summit_xl_vx300s_moveit_config/launch/planning_pipeline.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | -------------------------------------------------------------------------------- /moveit/summit_xl_vx300s_moveit_config/launch/ros_controllers.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 10 | 11 | 12 | -------------------------------------------------------------------------------- /moveit/summit_xl_vx300s_moveit_config/launch/run_benchmark_ompl.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | -------------------------------------------------------------------------------- /moveit/summit_xl_vx300s_moveit_config/launch/sensor_manager.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | -------------------------------------------------------------------------------- /moveit/summit_xl_vx300s_moveit_config/launch/setup_assistant.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 14 | 15 | 16 | -------------------------------------------------------------------------------- /moveit/summit_xl_vx300s_moveit_config/launch/summit_xl_moveit_controller_manager.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | -------------------------------------------------------------------------------- /moveit/summit_xl_vx300s_moveit_config/launch/summit_xl_moveit_sensor_manager.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | -------------------------------------------------------------------------------- /moveit/summit_xl_vx300s_moveit_config/launch/trajectory_execution.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | -------------------------------------------------------------------------------- /moveit/summit_xl_vx300s_moveit_config/launch/warehouse.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | -------------------------------------------------------------------------------- /moveit/summit_xl_vx300s_moveit_config/launch/warehouse_settings.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | -------------------------------------------------------------------------------- /moveit/summit_xl_vx300s_moveit_config/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | summit_xl_vx300s_moveit_config 4 | 0.3.0 5 | 6 | An automatically generated package with all the configuration and launch files for using the summit_xl with the MoveIt! Motion Planning Framework 7 | 8 | Robert Vasquez Zavaleta 9 | Robert Vasquez Zavaleta 10 | 11 | BSD 12 | 13 | http://moveit.ros.org/ 14 | https://github.com/ros-planning/moveit/issues 15 | https://github.com/ros-planning/moveit 16 | 17 | catkin 18 | 19 | moveit_ros_move_group 20 | moveit_fake_controller_manager 21 | moveit_kinematics 22 | moveit_planners_ompl 23 | moveit_ros_visualization 24 | moveit_setup_assistant 25 | moveit_simple_controller_manager 26 | joint_state_publisher 27 | joint_state_publisher_gui 28 | robot_state_publisher 29 | rviz 30 | tf2_ros 31 | xacro 32 | 33 | 34 | summit_xl_description 35 | 36 | 37 | 38 | -------------------------------------------------------------------------------- /summit_xl_common/CHANGELOG.rst: -------------------------------------------------------------------------------- 1 | ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ 2 | Changelog for package summit_xl_common 3 | ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ 4 | 5 | 1.1.3 (2018-05-15) 6 | ------------------ 7 | * merging with kinetic-multirobot-devel 8 | * Merge branch 'kinetic-devel' into kinetic-multirobot-devel 9 | * Merge branch 'indigo-devel-rc' into kinetic-devel 10 | * summit_xl_common: updated maintainer and authors 11 | * 1.0.10 12 | 13 | 1.1.2 (2016-09-01) 14 | ------------------ 15 | * fixed merge conflicts 16 | * 1.0.9 17 | * updated changelog 18 | 19 | 1.1.1 (2016-08-24) 20 | ------------------ 21 | 22 | 1.1.0 (2016-08-24) 23 | ------------------ 24 | 25 | 1.0.9 (2016-08-24) 26 | ------------------ 27 | 28 | 1.0.8 (2016-07-12) 29 | ------------------ 30 | 31 | 1.0.7 (2016-07-12) 32 | ------------------ 33 | * updated changelog 34 | * Contributors: carlos3dx 35 | 36 | 1.0.6 (2016-07-12) 37 | ------------------ 38 | 39 | 1.0.5 (2016-07-05) 40 | ------------------ 41 | 42 | 1.0.4 (2016-06-30) 43 | ------------------ 44 | * added dependency 45 | * Contributors: carlos3dx 46 | 47 | 1.0.3 (2016-06-29) 48 | ------------------ 49 | 50 | 1.0.2 (2016-06-28) 51 | ------------------ 52 | 53 | 1.0.1 (2016-06-28) 54 | ------------------ 55 | * indigo-1.0.0 56 | * Merge branch 'indigo-devel' of https://github.com/RobotnikAutomation/summit_xl_common into indigo-devel 57 | Conflicts: 58 | summit_xl_localization/launch/navsat_transform_node.launch 59 | * New summit_xl_description and summit_xl_pad. HL version still not added 60 | * Contributors: Dani Carbonell, mcantero, rguzman 61 | 62 | * Merge branch 'indigo-devel' of https://github.com/RobotnikAutomation/summit_xl_common into indigo-devel 63 | Conflicts: 64 | summit_xl_localization/launch/navsat_transform_node.launch 65 | * New summit_xl_description and summit_xl_pad. HL version still not added 66 | * Contributors: Dani Carbonell, rguzman 67 | -------------------------------------------------------------------------------- /summit_xl_common/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(summit_xl_common) 3 | find_package(catkin REQUIRED) 4 | catkin_metapackage() 5 | -------------------------------------------------------------------------------- /summit_xl_common/package.xml: -------------------------------------------------------------------------------- 1 | 2 | summit_xl_common 3 | 1.1.3 4 | URDF description of the Summit XL and Summit XL HL, platform messages and other files for simulation. 5 | 6 | 7 | BSD 8 | 9 | http://ros.org/wiki/summit_xl_common 10 | https://github.com/RobotnikAutomation/summit_xl_common.git 11 | https://github.com/RobotnikAutomation/summit_xl_common/issues 12 | 13 | Roberto Guzmán 14 | Román Navarro 15 | 16 | Angel Soriano 17 | Álvaro Villena 18 | David Redó 19 | Alejandro Arnal 20 | Marc Bosch 21 | Román Navarro 22 | 23 | catkin 24 | 25 | summit_xl_description 26 | summit_xl_localization 27 | summit_xl_navigation 28 | summit_xl_pad 29 | summit_xl_control 30 | 31 | 32 | 33 | 34 | 35 | -------------------------------------------------------------------------------- /summit_xl_control/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(summit_xl_control) 3 | 4 | 5 | find_package(catkin REQUIRED 6 | joint_state_controller 7 | velocity_controllers 8 | twist_mux 9 | diff_drive_controller 10 | ) 11 | 12 | catkin_package() 13 | 14 | include_directories(${catkin_INCLUDE_DIRS}) 15 | 16 | install( 17 | DIRECTORY launch config 18 | DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} 19 | ) 20 | -------------------------------------------------------------------------------- /summit_xl_control/config/robot_control.yaml: -------------------------------------------------------------------------------- 1 | joint_blw_velocity_controller: 2 | type: velocity_controllers/JointVelocityController 3 | joint: $(arg prefix)back_left_wheel_joint 4 | joint_brw_velocity_controller: 5 | type: velocity_controllers/JointVelocityController 6 | joint: $(arg prefix)back_right_wheel_joint 7 | joint_frw_velocity_controller: 8 | type: velocity_controllers/JointVelocityController 9 | joint: $(arg prefix)front_right_wheel_joint 10 | joint_flw_velocity_controller: 11 | type: velocity_controllers/JointVelocityController 12 | joint: $(arg prefix)front_left_wheel_joint 13 | 14 | robotnik_base_control: 15 | type: summit_xl_controller/SummitXLController 16 | joint: 17 | front_right_wheel_joint: 18 | name: $(arg prefix)front_right_wheel_joint 19 | max_speed: 27.27 # rad/s 20 | front_left_wheel_joint: 21 | name: $(arg prefix)front_left_wheel_joint 22 | max_speed: 27.27 # rad/s 23 | back_right_wheel_joint: 24 | name: $(arg prefix)back_right_wheel_joint 25 | max_speed: 27.27 # rad/s 26 | back_left_wheel_joint: 27 | name: $(arg prefix)back_left_wheel_joint 28 | max_speed: 27.27 # rad/s 29 | linear_speed_limit: 1.5 # m/s 30 | linear_acceleration_limit: 0.6 # m/s^2 31 | angular_speed_limit: 3 # rad/s 32 | angular_acceleration_limit: 1.5 # rad/s^2 33 | odom_frame: $(arg odom_frame) 34 | robot_base_frame: $(arg base_frame) 35 | odom_broadcast_tf: $(arg odom_broadcast_tf) 36 | odom_topic: 'robotnik_base_control/odom' 37 | wheel_base: $(arg wheel_base) 38 | track_width: $(arg track_width) 39 | wheel_diameter: $(arg wheel_diameter) 40 | cmd_watchdog_duration: 0.5 41 | imu_watchdog_duration: 0.1 42 | imu_topic: imu/data 43 | odom_publish_frequency: 100 44 | cmd_vel : 'robotnik_base_control/cmd_vel' 45 | kinematic_mode : $(arg kinematics) 46 | motion_odometry: true 47 | in_motion_timer: 2.0 48 | 49 | joint_read_state_controller: 50 | type: joint_state_controller/JointStateController 51 | publish_rate: 100.0 52 | -------------------------------------------------------------------------------- /summit_xl_control/config/simulation/robot_control.yaml: -------------------------------------------------------------------------------- 1 | joint_pan_position_controller: 2 | type: velocity_controllers/JointPositionController 3 | joint: $(arg prefix)front_ptz_camera_pan_joint 4 | pid: {p: 100.0, i: 0.01, d: 10.0} 5 | 6 | joint_tilt_position_controller: 7 | type: velocity_controllers/JointPositionController 8 | joint: $(arg prefix)front_ptz_camera_tilt_joint 9 | pid: {p: 100.0, i: 0.01, d: 10.0} 10 | 11 | 12 | robotnik_base_control: 13 | type : "diff_drive_controller/DiffDriveController" 14 | left_wheel : ['$(arg prefix)front_left_wheel_joint','$(arg prefix)back_left_wheel_joint'] 15 | right_wheel : ['$(arg prefix)front_right_wheel_joint','$(arg prefix)back_right_wheel_joint'] 16 | publish_rate: 50.0 17 | pose_covariance_diagonal : [0.001, 0.001, 1000000.0, 1000000.0, 1000000.0, 1000.0] 18 | twist_covariance_diagonal: [0.001, 0.001, 1000000.0, 1000000.0, 1000000.0, 1000.0] 19 | 20 | # Wheel separation and diameter. These are both optional. 21 | # diff_drive_controller will attempt to read either one or both from the 22 | # URDF if not specified as a parameter 23 | wheel_separation : 0.470 #def 0.433 24 | wheel_radius : 0.11 #def 0.0762 25 | 26 | # Wheel separation and radius multipliers 27 | wheel_separation_multiplier: 1.0 # default: 1.0 28 | wheel_radius_multiplier : 1.0 # default: 1.0 29 | 30 | # Velocity commands timeout [s], default 0.5 31 | cmd_vel_timeout: 0.25 32 | 33 | # Base frame_id 34 | base_frame_id: $(arg prefix)base_footprint 35 | odom_frame_id: $(arg prefix)odom 36 | enable_odom_tf: true 37 | 38 | # Velocity and acceleration limits 39 | # Whenever a min_* is unspecified, default to -max_* 40 | linear: 41 | x: 42 | has_velocity_limits : true 43 | max_velocity : 3.0 #1.5 # m/s 44 | min_velocity : -3.0 #-1.5 # m/s 45 | has_acceleration_limits: true 46 | max_acceleration : 6.0 #3.00 # m/s^2 47 | min_acceleration : -6.0 #-3.00 # m/s^2 48 | angular: 49 | z: 50 | has_velocity_limits : true 51 | max_velocity : 6.0 #3.0 # rad/s 52 | has_acceleration_limits: true 53 | max_acceleration : 6.0 #3.0 # rad/s^2 54 | 55 | 56 | joint_read_state_controller: 57 | type: joint_state_controller/JointStateController 58 | publish_rate: 100.0 59 | -------------------------------------------------------------------------------- /summit_xl_control/config/trossen/vx300s_control.yaml: -------------------------------------------------------------------------------- 1 | arm_controller: 2 | type: position_controllers/JointTrajectoryController 3 | joints: 4 | - robot_arm_waist_joint 5 | - robot_arm_shoulder_joint 6 | - robot_arm_elbow_joint 7 | - robot_arm_forearm_roll_joint 8 | - robot_arm_wrist_angle_joint 9 | - robot_arm_wrist_rotate_joint 10 | constraints: 11 | goal_time: 1 12 | stopped_velocity_tolerance: 0.02 13 | 14 | # The gripper has two claws that are not mechanically independent. When one 15 | # moves 0.1, the other moves -0.1. Therefore, both claws must be managed by 16 | # a single controller. However, the manufacturer has not provided a specific 17 | # controller. For the simulation the manufacturer has assumed that each gripper 18 | # is controlled independently. This is not correct because different positions 19 | # from reality are generated. For the real robot only the left claw is controlled. 20 | # The right claw is managed through its hardware interface. 21 | 22 | gripper_controller: 23 | type: position_controllers/JointTrajectoryController 24 | joints: 25 | - robot_arm_left_finger_joint 26 | 27 | joint_state_controller: 28 | type: joint_state_controller/JointStateController 29 | publish_rate: 100 30 | -------------------------------------------------------------------------------- /summit_xl_control/config/twist_mux.yaml: -------------------------------------------------------------------------------- 1 | topics: 2 | - name : pad 3 | topic : pad_teleop/cmd_vel 4 | timeout : 0.5 5 | priority: 100 6 | 7 | - name : web_pad 8 | topic : web_teleop/cmd_vel 9 | timeout : 0.5 10 | priority: 70 11 | 12 | - name : urcap 13 | topic : urcap_command_bridge/cmd_vel 14 | timeout : 0.5 15 | priority: 60 16 | 17 | - name : move_base 18 | topic : move_base/cmd_vel 19 | timeout : 0.5 20 | priority: 50 21 | 22 | - name : move 23 | topic : move/cmd_vel 24 | timeout : 0.5 25 | priority: 50 26 | 27 | - name : docker 28 | topic : docker/cmd_vel 29 | timeout : 0.5 30 | priority: 50 31 | 32 | - name : external 33 | topic : cmd_vel 34 | timeout : 0.5 35 | priority: 1 36 | 37 | locks: 38 | - name : e_stop 39 | topic : robotnik_base_hw/emergency_stop 40 | timeout : 0.0 41 | priority: 255 42 | -------------------------------------------------------------------------------- /summit_xl_control/launch/trossen_control.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 22 | 23 | 24 | 25 | ["joint_states", "/joint_states"] 26 | 27 | 28 | -------------------------------------------------------------------------------- /summit_xl_control/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | summit_xl_control 4 | 1.1.3 5 | 6 | This package contains the launch files that load the required controller interfaces for simulation in Gazebo. 7 | 8 | 9 | Roberto Guzmán 10 | 11 | Angel Soriano 12 | Álvaro Villena 13 | David Redó 14 | Alejandro Arnal 15 | Marc Bosch 16 | Román Navarro 17 | 18 | BSD 19 | http://ros.org/wiki/summit_xl_control 20 | https://github.com/RobotnikAutomation/summit_xl_sim.git 21 | https://github.com/RobotnikAutomation/summit_xl_sim/issues 22 | catkin 23 | 24 | 25 | joint_state_controller 26 | velocity_controllers 27 | twist_mux 28 | diff_drive_controller 29 | 30 | joint_state_controller 31 | velocity_controllers 32 | twist_mux 33 | diff_drive_controller 34 | 35 | 36 | -------------------------------------------------------------------------------- /summit_xl_description/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(summit_xl_description) 3 | 4 | find_package(catkin REQUIRED COMPONENTS roslaunch urdf xacro robotnik_sensors) 5 | 6 | catkin_package( 7 | CATKIN_DEPENDS urdf xacro 8 | ) 9 | 10 | include_directories(${catkin_INCLUDE_DIRS}) 11 | 12 | install( 13 | DIRECTORY launch meshes urdf robots vrep 14 | DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} 15 | ) 16 | -------------------------------------------------------------------------------- /summit_xl_description/launch/summit_xl_rviz.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | -------------------------------------------------------------------------------- /summit_xl_description/launch/summit_xl_state_robot.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | 44 | 45 | 46 | 47 | 48 | 49 | 50 | 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2 | 3 | summit_xl_description 4 | 1.1.3 5 | URDF description of the Summit XL and Summit XL HL and omni versions 6 | 7 | http://ros.org/wiki/summit_xl_description 8 | https://github.com/RobotnikAutomation/summit_xl_common.git 9 | https://github.com/RobotnikAutomation/summit_xl_common/issues 10 | 11 | Roberto Guzmán 12 | Román Navarro 13 | 14 | Angel Soriano 15 | Álvaro Villena 16 | David Redó 17 | Alejandro Arnal 18 | Marc Bosch 19 | Román Navarro 20 | 21 | BSD 22 | 23 | catkin 24 | roslaunch 25 | urdf 26 | xacro 27 | robotnik_sensors 28 | robot_state_publisher 29 | urdf 30 | xacro 31 | robotnik_sensors 32 | 33 | 34 | 35 | 36 | 37 | -------------------------------------------------------------------------------- /summit_xl_description/urdf/bases/summit_xl_base.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 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-------------------------------------------------------------------------------- /summit_xl_description/urdf/structures/sick_microscan3_support.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | -------------------------------------------------------------------------------- /summit_xl_description/urdf/structures/structure_chair.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | Gazebo/Black 38 | true 39 | 40 | 41 | 42 | 43 | 44 | -------------------------------------------------------------------------------- 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https://raw.githubusercontent.com/RobotnikAutomation/summit_xl_common/bb11a008a4a6da00ef1eb4223ddfc1974bd5de09/summit_xl_description/vrep/Robotnik_Summit_XL.ttt -------------------------------------------------------------------------------- /summit_xl_description/vrep/Robotnik_Summit_XL_STD.ttm: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/RobotnikAutomation/summit_xl_common/bb11a008a4a6da00ef1eb4223ddfc1974bd5de09/summit_xl_description/vrep/Robotnik_Summit_XL_STD.ttm -------------------------------------------------------------------------------- /summit_xl_description/vrep/version.txt: -------------------------------------------------------------------------------- 1 | V-REP_PRO_EDU_V3_1_2_64_Linux 2 | -------------------------------------------------------------------------------- /summit_xl_localization/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(summit_xl_localization) 3 | 4 | find_package(catkin REQUIRED COMPONENTS 5 | roscpp 6 | robot_localization 7 | tf2 8 | tf 9 | tf2_ros 10 | tf2_geometry_msgs 11 | message_filters 12 | std_msgs 13 | std_srvs 14 | geographic_msgs 15 | geometry_msgs 16 | nav_msgs 17 | sensor_msgs 18 | robotnik_msgs 19 | mavros_msgs 20 | robot_localization 21 | gmapping 22 | map_server 23 | amcl 24 | ) 25 | 26 | ################################### 27 | ## catkin specific configuration ## 28 | ################################### 29 | 30 | catkin_package( 31 | CATKIN_DEPENDS 32 | robot_localization 33 | roscpp 34 | tf 35 | tf2 36 | tf2_ros 37 | message_filters 38 | std_msgs 39 | std_srvs 40 | geometry_msgs 41 | nav_msgs 42 | sensor_msgs 43 | robotnik_msgs 44 | mavros_msgs 45 | ) 46 | 47 | ########### 48 | ## Build ## 49 | ########### 50 | 51 | install( 52 | DIRECTORY launch maps 53 | DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} 54 | ) 55 | -------------------------------------------------------------------------------- /summit_xl_localization/config/amcl.yaml: -------------------------------------------------------------------------------- 1 | # Publish scans from best pose at a max of 10 Hz 2 | use_map_topic: false 3 | odom_model_type: $(arg odom_model_type) 4 | odom_alpha5: 0.1 5 | transform_tolerance: 0.2 6 | gui_publish_rate: 10.0 7 | laser_max_beams: 30 8 | min_particles: 500 9 | max_particles: 5000 10 | kld_err: 0.05 11 | kld_z: 0.99 12 | odom_alpha1: 0.2 13 | odom_alpha2: 0.2 14 | # translation std dev, m 15 | odom_alpha3: 0.8 16 | odom_alpha4: 0.2 17 | laser_z_hit: 0.5 18 | laser_z_short: 0.05 19 | laser_z_max: 0.05 20 | laser_z_rand: 0.5 21 | laser_sigma_hit: 0.2 22 | laser_lambda_short: 0.1 23 | laser_lambda_short: 0.1 24 | laser_model_type: likelihood_field 25 | # laser_model_type: beam 26 | laser_likelihood_max_dist: 2.0 27 | update_min_d: 0.2 28 | update_min_a: 0.5 29 | odom_frame_id: $(arg odom_frame) 30 | base_frame_id: $(arg base_frame) 31 | global_frame_id: $(arg global_frame) 32 | resample_interval: 1 33 | transform_tolerance: 0.1 34 | recovery_alpha_slow: 0.0 35 | recovery_alpha_fast: 0.0 36 | 37 | initial_pose_x: $(arg x_init_pose) 38 | initial_pose_y: $(arg y_init_pose) 39 | initial_pose_z: $(arg z_init_pose) 40 | initial_pose_a: 0.0 -------------------------------------------------------------------------------- /summit_xl_localization/config/slam_gmapping.yaml: -------------------------------------------------------------------------------- 1 | map_frame: $(arg map_frame) 2 | base_frame: $(arg base_frame) 3 | odom_frame: $(arg odom_frame) 4 | map_udpate_interval: 2.0 5 | maxUrange: 16.0 6 | sigma: 0.05 7 | kernelSize: 1 8 | lstep: 0.05 9 | astep: 0.05 10 | iterations: 5 11 | lsigma: 0.075 12 | ogain: 3.0 13 | lskip: 0 14 | srr: 0.1 15 | srt: 0.2 16 | str: 0.1 17 | stt: 0.2 18 | linearUpdate: 0.2 19 | angularUpdate: 0.1 20 | temporalUpdate: 3.0 21 | resampleThreshold: 0.5 22 | particles: 100 23 | xmin: -50.0 24 | ymin: -50.0 25 | xmax: 50.0 26 | ymax: 50.0 27 | delta: 0.05 28 | llsamplerange: 0.01 29 | llsamplestep: 0.01 30 | lasamplerange: 0.005 31 | lasamplestep: 0.005 32 | -------------------------------------------------------------------------------- /summit_xl_localization/launch/amcl.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | -------------------------------------------------------------------------------- /summit_xl_localization/launch/localization_complete.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | 44 | 45 | 46 | 47 | 48 | 49 | 50 | -------------------------------------------------------------------------------- /summit_xl_localization/launch/map_saver.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | -------------------------------------------------------------------------------- /summit_xl_localization/launch/map_server.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | -------------------------------------------------------------------------------- /summit_xl_localization/launch/rl_utils.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | -------------------------------------------------------------------------------- /summit_xl_localization/launch/robot_localization_complete.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | -------------------------------------------------------------------------------- /summit_xl_localization/launch/slam_gmapping.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | -------------------------------------------------------------------------------- /summit_xl_localization/maps/demo/demo.pgm: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/RobotnikAutomation/summit_xl_common/bb11a008a4a6da00ef1eb4223ddfc1974bd5de09/summit_xl_localization/maps/demo/demo.pgm -------------------------------------------------------------------------------- /summit_xl_localization/maps/demo/demo.yaml: -------------------------------------------------------------------------------- 1 | image: demo.pgm 2 | resolution: 0.050000 3 | origin: [-50.000000, -50.000000, 0.000000] 4 | negate: 0 5 | occupied_thresh: 0.65 6 | free_thresh: 0.196 7 | 8 | -------------------------------------------------------------------------------- /summit_xl_localization/maps/empty/map_empty.pgm: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/RobotnikAutomation/summit_xl_common/bb11a008a4a6da00ef1eb4223ddfc1974bd5de09/summit_xl_localization/maps/empty/map_empty.pgm -------------------------------------------------------------------------------- /summit_xl_localization/maps/empty/map_empty.yaml: -------------------------------------------------------------------------------- 1 | image: map_empty.pgm 2 | resolution: 0.050000 3 | origin: [-100.000000, -100.000000, 0.000000] 4 | negate: 0 5 | occupied_thresh: 0.65 6 | free_thresh: 0.196 7 | 8 | -------------------------------------------------------------------------------- /summit_xl_localization/maps/rbk_warehouse/rbk_warehouse.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/RobotnikAutomation/summit_xl_common/bb11a008a4a6da00ef1eb4223ddfc1974bd5de09/summit_xl_localization/maps/rbk_warehouse/rbk_warehouse.png -------------------------------------------------------------------------------- /summit_xl_localization/maps/rbk_warehouse/rbk_warehouse.yaml: -------------------------------------------------------------------------------- 1 | image: rbk_warehouse.png 2 | resolution: 0.050000 3 | origin: [-100.000000, -100.000000, 0.000000] 4 | negate: 0 5 | occupied_thresh: 0.65 6 | free_thresh: 0.196 7 | 8 | -------------------------------------------------------------------------------- /summit_xl_localization/maps/robotnik/robotnik.pgm: 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free_thresh: 0.196 7 | 8 | -------------------------------------------------------------------------------- /summit_xl_localization/maps/robotnik/robotnik_small.pgm: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/RobotnikAutomation/summit_xl_common/bb11a008a4a6da00ef1eb4223ddfc1974bd5de09/summit_xl_localization/maps/robotnik/robotnik_small.pgm -------------------------------------------------------------------------------- /summit_xl_localization/maps/robotnik/robotnik_vert.pgm: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/RobotnikAutomation/summit_xl_common/bb11a008a4a6da00ef1eb4223ddfc1974bd5de09/summit_xl_localization/maps/robotnik/robotnik_vert.pgm -------------------------------------------------------------------------------- /summit_xl_localization/maps/willow_garage/willow_garage.pgm: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/RobotnikAutomation/summit_xl_common/bb11a008a4a6da00ef1eb4223ddfc1974bd5de09/summit_xl_localization/maps/willow_garage/willow_garage.pgm -------------------------------------------------------------------------------- /summit_xl_localization/maps/willow_garage/willow_garage.yaml: -------------------------------------------------------------------------------- 1 | image: willow_garage.pgm 2 | resolution: 0.020000 3 | origin: [-50.000000, -50.000000, 0.000000] 4 | negate: 0 5 | occupied_thresh: 0.65 6 | free_thresh: 0.196 7 | 8 | -------------------------------------------------------------------------------- /summit_xl_localization/scripts/imu_quat_to_rpy.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python 2 | import rospy 3 | from std_msgs.msg import String 4 | from sensor_msgs.msg import Imu 5 | import tf,math 6 | 7 | def callback(data): 8 | r,p,y = tf.transformations.euler_from_quaternion([data.orientation.x, data.orientation.y, data.orientation.z, data.orientation.w]) 9 | rospy.loginfo("rpy: %.3lf, %.3lf, %.3lf(%.3lf deg)", r, p, y, math.degrees(y)) 10 | 11 | def listener(): 12 | 13 | rospy.init_node('quat_to_rpy', anonymous=True) 14 | 15 | rospy.Subscriber("imu/data", Imu, callback) 16 | 17 | # spin() simply keeps python from exiting until this node is stopped 18 | rospy.spin() 19 | 20 | if __name__ == '__main__': 21 | listener() 22 | -------------------------------------------------------------------------------- /summit_xl_localization/scripts/odom_to_pose_rpy.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python 2 | 3 | import rospy 4 | from std_msgs.msg import String 5 | from nav_msgs.msg import Odometry 6 | import tf 7 | import math 8 | 9 | def callback(data): 10 | r,p,y = tf.transformations.euler_from_quaternion([data.pose.pose.orientation.x, data.pose.pose.orientation.y, data.pose.pose.orientation.z, data.pose.pose.orientation.w]) 11 | rospy.loginfo("x,y,z: %.3lf, %.3lf, %.3lf - rpy: %.3lf, %.3lf, %.3lf(%.3lf deg)", data.pose.pose.position.x, data.pose.pose.position.y, data.pose.pose.position.z, r, p, y, math.degrees(y)) 12 | 13 | def listener(): 14 | 15 | rospy.init_node('quat_to_rpy', anonymous=True) 16 | 17 | rospy.Subscriber("robotnik_base_control/odom", Odometry, callback) 18 | 19 | # spin() simply keeps python from exiting until this node is stopped 20 | rospy.spin() 21 | 22 | if __name__ == '__main__': 23 | listener() 24 | 25 | -------------------------------------------------------------------------------- /summit_xl_localization/scripts/save_map.sh: -------------------------------------------------------------------------------- 1 | #!/bin/bash 2 | 3 | MAP_FOLDER='./' 4 | 5 | if [ $# -eq 1 ] 6 | then 7 | echo "Saving map as $1 in $MAP_FOLDER" 8 | rosrun map_server map_saver -f $1 9 | else 10 | echo "$0: Incorrect number of params. The name of map has to be passed as argument" 11 | fi 12 | -------------------------------------------------------------------------------- /summit_xl_localization/scripts/set_datum.sh: -------------------------------------------------------------------------------- 1 | #!/bin/bash 2 | # Subscribes to /fix and calls service /datum with GPS lat/lon 3 | 4 | latitude=$(rostopic echo -n1 /fix/latitude | head -n1) 5 | longitude=$(rostopic echo -n1 /fix/longitude | head -n1) 6 | 7 | $(rosservice call /datum "geo_pose: 8 | position: 9 | latitude: $latitude 10 | longitude: $longitude 11 | altitude: 0.0 12 | orientation: 13 | x: 0.0 14 | y: 0.0 15 | z: 0.0 16 | w: 1.0") 17 | -------------------------------------------------------------------------------- /summit_xl_localization/scripts/test.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python 2 | import rospy 3 | from std_msgs.msg import String 4 | from sensor_msgs.msg import MagneticField 5 | from math import atan2, sin, cos, sqrt 6 | 7 | def callback(data): 8 | #rospy.loginfo(rospy.get_caller_id() + "mx: %s", data.magnetic_field.x) 9 | xmag = data.magnetic_field.x 10 | ymag = data.magnetic_field.y 11 | zmag = data.magnetic_field.z 12 | mag_norm=sqrt((xmag*xmag)+(ymag*ymag)+(zmag*zmag)) 13 | # for normalization 14 | magx=xmag/mag_norm 15 | magy=ymag/mag_norm 16 | magz=zmag/mag_norm 17 | 18 | Roll = 0; 19 | Pitch = 0; 20 | #yaw =atan2( (-ymag*cos(Roll) + zmag*sin(Roll) ) , (xmag*cos(Pitch) + ymag*sin(Pitch)*sin(Roll)+ zmag*sin(Pitch)*cos(Roll)) ) 21 | #yaw =atan2( (-magy*cos(Roll) + magz*sin(Roll) ) , (magx*cos(Pitch) + magy*sin(Pitch)*sin(Roll)+ magz*sin(Pitch)*cos(Roll)) ) 22 | 23 | cos_pitch = cos(Pitch) 24 | sin_pitch = sin(Pitch) 25 | cos_roll = cos(Roll) 26 | sin_roll = sin(Roll) 27 | t_mag_x = magx * cos_pitch + magz * sin_pitch 28 | t_mag_y = magx * sin_roll * sin_pitch + magy * cos_roll - magz * sin_roll * cos_pitch 29 | head_x = t_mag_x 30 | head_y = t_mag_y 31 | yaw = atan2(head_x, head_y) 32 | 33 | 34 | rospy.loginfo(rospy.get_caller_id() + "yaw: %s", yaw) 35 | 36 | def listener(): 37 | 38 | rospy.init_node('test', anonymous=True) 39 | 40 | rospy.Subscriber("/mavros/imu/mag", MagneticField, callback) 41 | 42 | # spin() simply keeps python from exiting until this node is stopped 43 | rospy.spin() 44 | 45 | if __name__ == '__main__': 46 | listener() 47 | -------------------------------------------------------------------------------- /summit_xl_navigation/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(summit_xl_navigation) 3 | 4 | find_package(catkin REQUIRED COMPONENTS 5 | ) 6 | 7 | catkin_package( CATKIN_DEPENDS ) 8 | 9 | include_directories(${catkin_INCLUDE_DIRS}) 10 | 11 | install( 12 | DIRECTORY launch config 13 | DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} 14 | ) 15 | -------------------------------------------------------------------------------- /summit_xl_navigation/config/base_local_planner_params.yaml: -------------------------------------------------------------------------------- 1 | TrajectoryPlannerROS: # params info in http://wiki.ros.org/base_local_planner 2 | 3 | # Robot Configuration Parameters 4 | acc_lim_x: 2.5 5 | acc_lim_y: 2.5 6 | acc_lim_theta: 3.2 7 | max_vel_x: 1.0 8 | min_vel_x: 0.025 9 | max_vel_theta: 1.0 10 | min_vel_theta: -1.0 11 | min_in_place_rotational_vel: 0.2 12 | escape_vel: -0.1 13 | holonomic_robot: false 14 | y_vels: [-0.3, -0.1, 0.1, 0.3] 15 | 16 | # Goal Tolerance Parameters 17 | yaw_goal_tolerance: 0.15 #default: 0.05 18 | xy_goal_tolerance: 0.2 #default: 0.1 19 | latch_xy_goal_tolerance: true 20 | 21 | # Forward Simulation Parameters 22 | sim_time: 1.0 23 | sim_granularity: 0.025 24 | angular_sim_granularity: 0.025 25 | vx_samples: 3 26 | vtheta_samples: 20 27 | 28 | #Trajectory Scoring Parameters 29 | meter_scoring: false 30 | pdist_scale: 1.0 # default: 0.6 31 | gdist_scale: 0.01 # default: 0.8 32 | occdist_scale: 0.01 # default: 0.01 33 | heading_lookahead: 0.325 # default 0.325 34 | heading_scoring: false 35 | heading_scoring_timestep: 0.1 # default: 0.1 36 | dwa: false # default: false 37 | publish_cost_grid_pc: false 38 | global_frame_id: summit_xl_odom 39 | 40 | # Oscillation Prevention Parameters 41 | oscillation_reset_dist: 0.05 42 | 43 | #Global Plan Parameters 44 | prune_plan: true 45 | -------------------------------------------------------------------------------- /summit_xl_navigation/config/costmap_common_params.yaml: -------------------------------------------------------------------------------- 1 | footprint: [[0.375, -0.34], [0.375, 0.34], [-0.375,0.34], [-0.375, -0.34]] 2 | 3 | publish_frequency: 1.0 4 | 5 | inflation_layer: 6 | inflation_radius: 0.3 7 | 8 | obstacle_laser_layer: 9 | obstacle_range: 2.5 10 | raytrace_range: 5.5 11 | observation_sources: front_laser rear_laser 12 | front_laser: 13 | data_type: LaserScan 14 | topic: $(arg front_scan_topic) 15 | marking: true 16 | clearing: true 17 | rear_laser: 18 | data_type: LaserScan 19 | topic: $(arg rear_scan_topic) 20 | marking: true 21 | clearing: true 22 | 23 | obstacle_camera_layer: 24 | obstacle_range: 2.5 25 | raytrace_range: 5.5 26 | observation_sources: front_rgbd_to_scan 27 | front_rgbd_to_scan: 28 | data_type: LaserScan 29 | topic: $(arg front_rgbd_to_scan_topic) 30 | marking: true 31 | clearing: true 32 | -------------------------------------------------------------------------------- /summit_xl_navigation/config/docking/diff_docker.yaml: -------------------------------------------------------------------------------- 1 | gain_linear_velocity_x: 0.5 2 | gain_linear_velocity_y: 1 3 | gain_angular_velocity_z: 0.5 4 | 5 | maximum_linear_velocity_x: 0.4 6 | maximum_linear_velocity_y: 0.2 7 | maximum_angular_velocity_z: 0.7 8 | 9 | threshold_linear_velocity_x: 0.002 10 | threshold_linear_velocity_y: 0.002 11 | threshold_angular_velocity_z: 0.005 12 | 13 | goal_threshold_x: 0.005 14 | goal_threshold_y: 0.005 15 | goal_threshold_theta: 0.06 16 | 17 | check_initial_limits: true 18 | initial_maximum_distance_x: 2.5 19 | initial_minimum_distance_y: 0.0 20 | initial_minimum_distance_x: 0.5 21 | 22 | minimum_relative_linear_velocity_between_robot_and_goal: 0.001 23 | minimum_relative_angular_velocity_between_robot_and_goal: 0.002 24 | 25 | initial_maximum_arc: 0.7 26 | initial_maximum_yaw: 1 27 | 28 | publish_debug_frames: true 29 | offset_for_heading_adjustment: 0.3 30 | 31 | tf_timeout: 0.5 32 | free_goal_velocity: false 33 | 34 | check_robot_is_moving_to_goal: false 35 | robot_moving_to_goal_delay: 3 36 | robot_moving_to_goal_averaging_time: 1.0 37 | -------------------------------------------------------------------------------- /summit_xl_navigation/config/docking/omni_docker.yaml: -------------------------------------------------------------------------------- 1 | gain_linear_velocity_x: 0.5 2 | gain_linear_velocity_y: 1 3 | gain_angular_velocity_z: 0.5 4 | 5 | maximum_linear_velocity_x: 0.4 6 | maximum_linear_velocity_y: 0.2 7 | maximum_angular_velocity_z: 0.7 8 | 9 | threshold_linear_velocity_x: 0.002 10 | threshold_linear_velocity_y: 0.002 11 | threshold_angular_velocity_z: 0.005 12 | 13 | goal_threshold_x: 0.005 14 | goal_threshold_y: 0.005 15 | goal_threshold_theta: 0.06 16 | 17 | check_initial_limits: true 18 | initial_maximum_distance_x: 2.5 19 | initial_maximum_distance_y: -1.0 20 | initial_minimum_distance_x: 0.5 21 | initial_minimum_distance_y: 0.0 22 | 23 | minimum_relative_linear_velocity_between_robot_and_goal: 0.001 24 | minimum_relative_angular_velocity_between_robot_and_goal: 0.002 25 | 26 | initial_maximum_arc: 0.7 27 | initial_maximum_yaw: 1 28 | 29 | publish_debug_frames: true 30 | offset_for_heading_adjustment: 0.3 31 | 32 | tf_timeout: 0.5 33 | free_goal_velocity: false 34 | 35 | check_robot_is_moving_to_goal: false 36 | robot_moving_to_goal_delay: 3 37 | robot_moving_to_goal_averaging_time: 1.0 38 | -------------------------------------------------------------------------------- /summit_xl_navigation/config/docking/pp_docker.yaml: -------------------------------------------------------------------------------- 1 | gain_linear_velocity_x: 0.5 2 | gain_linear_velocity_y: 1.0 3 | gain_angular_velocity_z: 2.0 4 | 5 | maximum_linear_velocity_x: 0.4 6 | maximum_linear_velocity_y: 0.2 7 | maximum_angular_velocity_z: 0.7 8 | 9 | minimum_relative_linear_velocity_between_robot_and_goal: 0.01 10 | minimum_relative_angular_velocity_between_robot_and_goal: 0.0017 11 | 12 | check_initial_limits: false 13 | initial_maximum_distance_x: 1.0 14 | initial_maximum_distance_y: 0.0 15 | initial_minimum_distance_x: 0.5 16 | initial_minimum_distance_y: 0.0 17 | 18 | initial_maximum_arc: 0.52 19 | initial_maximum_yaw: 0.52 20 | 21 | check_robot_is_moving_to_goal: true 22 | robot_moving_to_goal_delay: 30.0 23 | 24 | tf_timeout: 2.0 25 | free_goal_velocity: true 26 | 27 | goal_threshold_x: 0.01 28 | goal_threshold_y: 0.01 29 | goal_threshold_theta: 0.01 30 | 31 | threshold_linear_velocity_x: 0.01 32 | threshold_linear_velocity_y: 0.01 33 | threshold_angular_velocity_z: 0.01 34 | 35 | robot_moving_to_goal_averaging_time: 3 36 | publish_debug_frames: true 37 | 38 | kr: 0.2 39 | look_ahead: 0.3 40 | k_angular_to_linear_factor: 1.05 41 | pre_dock_point_distance: -1.5 42 | free_flight_mode: false 43 | tf_update_frequency: 0.5 44 | tf_update_min_distance: 0.8 45 | -------------------------------------------------------------------------------- /summit_xl_navigation/config/eband_global_costmap_params.yaml: -------------------------------------------------------------------------------- 1 | global_costmap: 2 | global_frame: $(arg global_frame) 3 | robot_base_frame: $(arg base_frame) 4 | update_frequency: 0.5 5 | 6 | plugins: 7 | - name: static_map_layer 8 | type: "costmap_2d::StaticLayer" 9 | - name: obstacle_laser_layer 10 | type: "costmap_2d::ObstacleLayer" 11 | - name: inflation_layer 12 | type: "costmap_2d::InflationLayer" 13 | 14 | static_map_layer: 15 | lethal_cost_threshold: 94 16 | static_map: true 17 | map_topic: map 18 | unknown_cost_value: 1 19 | trinary_costmap: false 20 | use_maximum: false 21 | -------------------------------------------------------------------------------- /summit_xl_navigation/config/global_costmap_params_map.yaml: -------------------------------------------------------------------------------- 1 | global_costmap: 2 | global_frame: $(arg global_frame) 3 | robot_base_frame: $(arg base_frame) 4 | update_frequency: 5.0 5 | 6 | plugins: 7 | # - name: obstacle_laser_layer 8 | # type: "costmap_2d::VoxelLayer" 9 | # - name: rgbd_obstacle_layer 10 | # type: "costmap_2d::VoxelLayer" 11 | - name: static_map_layer 12 | type: "costmap_2d::StaticLayer" 13 | # - name: costmap_prohibition_layer 14 | # type: "costmap_prohibition_layer_namespace::CostmapProhibitionLayer" 15 | - name: inflation_layer 16 | type: "costmap_2d::InflationLayer" 17 | 18 | static_map_layer: 19 | lethal_cost_threshold: 94 20 | map_topic: map 21 | unknown_cost_value: 1 22 | trinary_costmap: false 23 | use_maximum: false 24 | -------------------------------------------------------------------------------- /summit_xl_navigation/config/global_planner_params.yaml: -------------------------------------------------------------------------------- 1 | base_global_planner: global_planner/GlobalPlanner 2 | 3 | GlobalPlanner: 4 | planner_frequency: 1.0 5 | planner_patience: 0.0 6 | orientation_mode: 2 # interpolate from current orientation to last orientation 7 | 8 | 9 | -------------------------------------------------------------------------------- /summit_xl_navigation/config/local_costmap_params.yaml: -------------------------------------------------------------------------------- 1 | local_costmap: 2 | global_frame: $(arg odom_frame) 3 | robot_base_frame: $(arg base_frame) 4 | update_frequency: 5.0 5 | rolling_window: true 6 | width: 7.0 7 | height: 7.0 8 | resolution: 0.05 9 | 10 | # padding is 0.1 by default, making difficult to pass through narrow places 11 | footprint_padding: 0.0 12 | 13 | plugins: 14 | - name: obstacle_laser_layer 15 | type: "costmap_2d::ObstacleLayer" 16 | # - name: obstacle_camera_layer 17 | # type: "costmap_2d::VoxelLayer" 18 | - name: inflation_layer 19 | type: "costmap_2d::InflationLayer" 20 | -------------------------------------------------------------------------------- /summit_xl_navigation/config/move.yaml: -------------------------------------------------------------------------------- 1 | gain_linear_velocity_x: 0.5 2 | gain_linear_velocity_y: 1.0 3 | gain_angular_velocity_z: 2.0 4 | 5 | maximum_linear_velocity_x: 0.1 6 | maximum_linear_velocity_y: 0.2 7 | maximum_angular_velocity_z: 0.3 8 | 9 | threshold_linear_velocity_x: 0.002 10 | threshold_linear_velocity_y: 0.002 11 | threshold_angular_velocity_z: 0.05 12 | 13 | goal_threshold_x: 0.02 14 | goal_threshold_y: 0.01 15 | goal_threshold_theta: 0.01 16 | 17 | minimum_relative_linear_velocity_between_robot_and_goal: 0.005 18 | minimum_relative_angular_velocity_between_robot_and_goal: 0.002 19 | 20 | initial_maximum_arc: 1 21 | initial_maximum_yaw: 1 22 | 23 | free_goal_velocity: false 24 | 25 | check_robot_is_moving_to_goal: false 26 | robot_moving_to_goal_delay: 3 27 | robot_moving_to_goal_averaging_time: 5 28 | -------------------------------------------------------------------------------- /summit_xl_navigation/config/move_base_params.yaml: -------------------------------------------------------------------------------- 1 | base_global_planner: global_planner/GlobalPlanner 2 | 3 | #max_planning_retries: 10 #How many times to allow for planning retries before executing recovery behaviors. A value of -1.0 corresponds to an infinite retries. 4 | 5 | controller_frequency: 20.0 # How long the controller will wait in seconds 6 | # without receiving a valid control before space-clearing 7 | # operations are performed 8 | controller_patience: 15.0 9 | planner_frequency: 0.2 10 | planner_patience: 15.0 # How long the planner will wait in seconds in an 11 | # attempt to find a valid plan before space-clearing 12 | # operations are performed 13 | 14 | conservative_reset_dist: 3.0 # The distance away from the robot in meters beyond which 15 | # obstacles will be cleared from the costmap when attempting to 16 | # clear space in the map. Note, this parameter is only used when 17 | # the default recovery behaviors are used for move_base. 18 | recovery_behavior_enabled: true 19 | clearing_rotation_allowed: false # attempt an in-place rotation when attempting to clear out 20 | # space. 21 | shutdown_costmaps: false 22 | oscillation_timeout: 0.0 # How long in seconds to allow for oscillation before executing 23 | # recovery behaviors 24 | oscillation_distance: 0.5 # How far in meters the robot must move to be considered not 25 | # to be oscillating 26 | max_planning_retries: 10 # How many times to allow for planning retries before executing 27 | # recovery behaviors. A value of -1.0 corresponds to an infinite 28 | # retries. 29 | 30 | recovery_behaviors: 31 | - 32 | name: conservative_reset 33 | type: clear_costmap_recovery/ClearCostmapRecovery 34 | - 35 | name: aggresive_reset 36 | type: clear_costmap_recovery/ClearCostmapRecovery 37 | 38 | conservative_reset: 39 | reset_distance: 10.0 40 | # layer_names: [obstacle_laser_layer, obstacle_camera_layer] 41 | layer_names: [obstacle_laser_layer] 42 | 43 | aggresive_reset: 44 | reset_distance: 0.0 45 | # layer_names: [obstacle_laser_layer, obstacle_camera_layer] 46 | layer_names: [obstacle_laser_layer] 47 | -------------------------------------------------------------------------------- /summit_xl_navigation/config/planner_footprints/rbkairos.yaml: -------------------------------------------------------------------------------- 1 | global_costmap: 2 | footprint: [[0.375, -0.34], [0.375, 0.34], [-0.375,0.34], [-0.375, -0.34]] 3 | local_costmap: 4 | footprint: [[0.375, -0.34], [0.375, 0.34], [-0.375,0.34], [-0.375, -0.34]] 5 | TebLocalPlannerROS: 6 | footprint_model: 7 | type: "polygon" 8 | vertices: [[0.375, -0.34], [0.375, 0.34], [-0.375,0.34], [-0.375, -0.34]] 9 | -------------------------------------------------------------------------------- /summit_xl_navigation/config/planner_footprints/summit_xl.yaml: -------------------------------------------------------------------------------- 1 | global_costmap: 2 | footprint: [[0.362, -0.308], [0.362, 0.308], [-0.362,0.308], [-0.362, -0.308]] 3 | local_costmap: 4 | footprint: [[0.362, -0.308], [0.362, 0.308], [-0.362,0.308], [-0.362, -0.308]] 5 | TebLocalPlannerROS: 6 | footprint_model: 7 | type: "polygon" 8 | vertices: [[0.362, -0.308], [0.362, 0.308], [-0.362,0.308], [-0.362, -0.308]] 9 | -------------------------------------------------------------------------------- /summit_xl_navigation/config/planner_footprints/summit_xl_steel.yaml: -------------------------------------------------------------------------------- 1 | global_costmap: 2 | footprint: [[0.375, -0.34], [0.375, 0.34], [-0.375,0.34], [-0.375, -0.34]] 3 | local_costamp: 4 | footprint: [[0.375, -0.34], [0.375, 0.34], [-0.375,0.34], [-0.375, -0.34]] 5 | TebLocalPlannerROS: 6 | footprint_model: 7 | type: "polygon" 8 | vertices: [[0.375, -0.34], [0.375, 0.34], [-0.375,0.34], [-0.375, -0.34]] 9 | -------------------------------------------------------------------------------- /summit_xl_navigation/config/rgbd_to_scan_filter.yaml: -------------------------------------------------------------------------------- 1 | scan_filter_chain: 2 | - type: laser_filters/LaserArrayFilter 3 | name: laser_median_filter 4 | params: 5 | range_filter_chain: 6 | - name: median_5 7 | type: filters/MultiChannelMedianFilterFloat 8 | params: 9 | number_of_observations: 5 10 | unused: 10 11 | intensity_filter_chain: 12 | - name: median_5 13 | type: filters/MultiChannelMedianFilterFloat 14 | params: 15 | number_of_observations: 5 16 | unused: 10 17 | - name: range 18 | type: laser_filters/LaserScanRangeFilter 19 | params: 20 | use_message_range_limits: false 21 | lower_threshold: 0.3 22 | upper_threshold: 5.0 23 | lower_replacement_value: 0.3 24 | upper_replacement_value: 4.99 25 | -------------------------------------------------------------------------------- /summit_xl_navigation/config/scan_filter.yaml: -------------------------------------------------------------------------------- 1 | scan_filter_chain: 2 | 3 | - name: range 4 | type: laser_filters/LaserScanRangeFilter 5 | params: 6 | use_message_range_limits: false 7 | lower_threshold: 0.05 8 | upper_threshold: 5.0 9 | lower_replacement_value: 0.05 10 | upper_replacement_value: 4.99 11 | -------------------------------------------------------------------------------- /summit_xl_navigation/launch/dockers.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | -------------------------------------------------------------------------------- /summit_xl_navigation/launch/move.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | -------------------------------------------------------------------------------- /summit_xl_navigation/launch/move_base.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | 44 | 45 | 46 | 47 | 48 | -------------------------------------------------------------------------------- /summit_xl_navigation/launch/move_base_eband.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | 44 | 45 | 46 | 47 | 48 | 49 | -------------------------------------------------------------------------------- /summit_xl_navigation/launch/move_base_teb.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | 44 | 45 | 46 | 47 | 48 | 49 | -------------------------------------------------------------------------------- /summit_xl_navigation/launch/rgbd_to_laserscan.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | 44 | 45 | -------------------------------------------------------------------------------- /summit_xl_navigation/launch/rviz_satellite.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | -------------------------------------------------------------------------------- /summit_xl_navigation/launch/scan_filter.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | -------------------------------------------------------------------------------- /summit_xl_navigation/launch/tf_publishers.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | -------------------------------------------------------------------------------- /summit_xl_navigation/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | summit_xl_navigation 4 | 1.1.3 5 | Navigation launch and config files for Summit XL robot. 6 | 7 | http://ros.org/wiki/summit_xl_navigation 8 | https://github.com/RobotnikAutomation/summit_xl_common.git 9 | https://github.com/RobotnikAutomation/summit_xl_common/issues 10 | 11 | Roberto Guzmán 12 | 13 | Angel Soriano 14 | Álvaro Villena 15 | David Redó 16 | Alejandro Arnal 17 | Marc Bosch 18 | Román Navarro 19 | 20 | BSD 21 | 22 | catkin 23 | 24 | teb_local_planner 25 | eband_local_planner 26 | move_base 27 | global_planner 28 | 29 | 30 | -------------------------------------------------------------------------------- /summit_xl_pad/.svn/entries: -------------------------------------------------------------------------------- 1 | 12 2 | -------------------------------------------------------------------------------- /summit_xl_pad/.svn/format: -------------------------------------------------------------------------------- 1 | 12 2 | -------------------------------------------------------------------------------- /summit_xl_pad/.svn/pristine/7a/7adba587afe98b08c226fef31ff3c0363ddd3f50.svn-base: -------------------------------------------------------------------------------- 1 | bool value 2 | --- 3 | bool ret 4 | -------------------------------------------------------------------------------- /summit_xl_pad/.svn/pristine/94/94eb45ee6bb3f2773656a1933dad1bf1866db671.svn-base: -------------------------------------------------------------------------------- 1 | num_of_buttons: 15 2 | axis_linear_x: 1 3 | axis_linear_y: 0 4 | axis_angular: 2 5 | axis_linear_z: 3 6 | scale_linear: 1.5 7 | scale_angular: 1.5 8 | scale_linear_z: 20.0 9 | button_speed_up: 12 10 | button_speed_down: 14 11 | button_dead_man: 11 12 | button_output_1: 15 13 | button_output_2: 13 14 | output_1: 1 15 | output_2: 2 16 | button_ptz_tilt_up: 4 17 | button_ptz_tilt_down: 6 18 | button_ptz_pan_right: 5 19 | button_ptz_pan_left: 7 20 | button_ptz_zoom_wide: 3 21 | button_ptz_zoom_tele: 0 22 | button_home: 8 23 | tilt_increment: 5 24 | pan_increment: 5 25 | zoom_increment: 300 26 | button_kinematic_mode: 9 27 | cmd_service_set_mode: /summit_xl_controller/set_mode 28 | cmd_service_home: /summit_xl_controller/home 29 | joystick_dead_zone: "true" #useful for x-wam 30 | -------------------------------------------------------------------------------- /summit_xl_pad/.svn/pristine/97/97e47be355f5d618b9cbce2f91501fd7d1a2aab1.svn-base: -------------------------------------------------------------------------------- 1 | 2 | 3 | summit_xl_pad 4 | 0.0.0 5 | The summit_xl_pad package allows to control 6 | the summit_xl product range (summit_xl, summit_xl_omni, x_wam) teleoperation 7 | 8 | 9 | 10 | Robotnik 11 | 12 | 13 | BSD 14 | 15 | 16 | 17 | catkin 18 | 19 | robotnik_msgs 20 | nav_msgs 21 | roscpp 22 | sensor_msgs 23 | geometry_msgs 24 | message_generation 25 | 26 | robotnik_msgs 27 | nav_msgs 28 | roscpp 29 | sensor_msgs 30 | geometry_msgs 31 | message_runtime 32 | 33 | diagnostic_updater 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | -------------------------------------------------------------------------------- /summit_xl_pad/.svn/pristine/98/98aae4ef4be676b93e274a241dd94e9cd464ed3a.svn-base: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(summit_xl_pad) 3 | 4 | ## Find catkin macros and libraries 5 | ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) 6 | ## is used, also find other catkin packages 7 | find_package(catkin REQUIRED COMPONENTS 8 | message_generation 9 | nav_msgs 10 | robotnik_msgs 11 | roscpp 12 | sensor_msgs 13 | geometry_msgs 14 | diagnostic_updater 15 | # sound_play 16 | ) 17 | 18 | ## System dependencies are found with CMake's conventions 19 | # find_package(Boost REQUIRED COMPONENTS system) 20 | 21 | ####################################### 22 | ## Declare ROS messages and services ## 23 | ####################################### 24 | ## Generate messages in the 'msg' folder 25 | # add_message_files( 26 | # FILES 27 | # Message1.msg 28 | # Message2.msg 29 | # ) 30 | 31 | ## Generate services in the 'srv' folder 32 | add_service_files(DIRECTORY srv 33 | FILES 34 | enable_disable_pad.srv 35 | ) 36 | 37 | ## Generate added messages and services with any dependencies listed here 38 | generate_messages( 39 | DEPENDENCIES 40 | nav_msgs robotnik_msgs sensor_msgs summit_xl_pad 41 | ) 42 | 43 | ################################### 44 | ## catkin specific configuration ## 45 | ################################### 46 | ## The catkin_package macro generates cmake config files for your package 47 | ## Declare things to be passed to dependent projects 48 | ## INCLUDE_DIRS: uncomment this if you package contains header files 49 | ## LIBRARIES: libraries you create in this project that dependent projects also need 50 | ## CATKIN_DEPENDS: catkin_packages dependent projects also need 51 | ## DEPENDS: system dependencies of this project that dependent projects also need 52 | catkin_package( 53 | # INCLUDE_DIRS include 54 | # LIBRARIES summit_xl_robot_control 55 | CATKIN_DEPENDS 56 | nav_msgs 57 | robotnik_msgs 58 | roscpp 59 | sensor_msgs 60 | geometry_msgs 61 | message_runtime 62 | # DEPENDS system_lib 63 | ) 64 | 65 | ########### 66 | ## Build ## 67 | ########### 68 | include_directories( 69 | include 70 | ${catkin_INCLUDE_DIRS} 71 | ) 72 | 73 | ## Declare a cpp executable 74 | add_executable(summit_xl_pad src/summit_xl_pad.cpp) 75 | 76 | add_dependencies(summit_xl_pad summit_xl_pad_generate_messages_cpp) 77 | 78 | ## Specify libraries to link a library or executable target against 79 | # target_link_libraries(summit_xl_robot_control_node 80 | target_link_libraries(summit_xl_pad 81 | ${catkin_LIBRARIES} 82 | ) 83 | 84 | -------------------------------------------------------------------------------- /summit_xl_pad/.svn/pristine/b8/b8b16d9c1eb1ee317d4cb37debbf0aeaada82f32.svn-base: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | -------------------------------------------------------------------------------- /summit_xl_pad/.svn/pristine/ca/cafca5cfae770816ce022d4ba40e29a086d02c34.svn-base: -------------------------------------------------------------------------------- 1 | num_of_buttons: 13 2 | axis_linear: 1 3 | axis_angular: 2 4 | scale_linear: 2.0 5 | scale_angular: 6.0 6 | button_speed_up: 3 7 | button_speed_down: 1 8 | button_dead_man: 5 9 | button_output_1: 2 10 | button_output_2: 0 11 | output_1: 0 12 | output_2: 2 13 | # Works by means of axis instead of by buttons 14 | button_ptz_tilt_up: 4 15 | button_ptz_tilt_down: 6 16 | button_ptz_pan_right: 2 17 | button_ptz_pan_left: 0 18 | 19 | -------------------------------------------------------------------------------- /summit_xl_pad/.svn/pristine/df/df607f1a4c2967df580ba56d5477d317399b9143.svn-base: -------------------------------------------------------------------------------- 1 | num_of_buttons: 15 2 | axis_linear: 1 3 | axis_angular: 2 4 | scale_linear: 1.0 5 | scale_angular: 2.0 6 | button_speed_up: 12 7 | button_speed_down: 14 8 | button_dead_man: 11 9 | button_output_1: 15 10 | button_output_2: 13 11 | output_1: 0 12 | output_2: 2 13 | button_ptz_tilt_up: 4 14 | button_ptz_tilt_down: 6 15 | button_ptz_pan_right: 5 16 | button_ptz_pan_left: 7 -------------------------------------------------------------------------------- /summit_xl_pad/.svn/pristine/fb/fbaca4bc98cf09bf5e62b1ad166e3e58e3ab3523.svn-base: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/RobotnikAutomation/summit_xl_common/bb11a008a4a6da00ef1eb4223ddfc1974bd5de09/summit_xl_pad/.svn/pristine/fb/fbaca4bc98cf09bf5e62b1ad166e3e58e3ab3523.svn-base -------------------------------------------------------------------------------- /summit_xl_pad/.svn/wc.db: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/RobotnikAutomation/summit_xl_common/bb11a008a4a6da00ef1eb4223ddfc1974bd5de09/summit_xl_pad/.svn/wc.db -------------------------------------------------------------------------------- /summit_xl_pad/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(summit_xl_pad) 3 | 4 | find_package(catkin REQUIRED COMPONENTS 5 | message_generation 6 | robotnik_msgs 7 | roscpp 8 | sensor_msgs 9 | geometry_msgs 10 | diagnostic_updater 11 | ) 12 | 13 | add_service_files(DIRECTORY srv 14 | FILES 15 | enable_disable_pad.srv 16 | ) 17 | 18 | generate_messages( 19 | DEPENDENCIES 20 | robotnik_msgs sensor_msgs summit_xl_pad 21 | ) 22 | 23 | catkin_package( 24 | CATKIN_DEPENDS 25 | robotnik_msgs 26 | roscpp 27 | sensor_msgs 28 | geometry_msgs 29 | message_runtime 30 | ) 31 | 32 | include_directories( 33 | include 34 | ${catkin_INCLUDE_DIRS} 35 | ) 36 | 37 | add_executable(summit_xl_pad src/summit_xl_pad.cpp) 38 | 39 | add_dependencies(summit_xl_pad summit_xl_pad_generate_messages_cpp) 40 | 41 | target_link_libraries(summit_xl_pad 42 | ${catkin_LIBRARIES} 43 | ) 44 | 45 | install( 46 | TARGETS summit_xl_pad 47 | DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} 48 | ) 49 | 50 | install( 51 | DIRECTORY launch config 52 | DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} 53 | ) 54 | -------------------------------------------------------------------------------- /summit_xl_pad/config/logitechf710.yaml: -------------------------------------------------------------------------------- 1 | #IMPORTANT TO USE THIS PAD WITH SUMMITXL 2 | #CHECK THE IF THE SWITCH IS IN DIRECT INPUT (D) 3 | #AND THE MODE LED IS OFF 4 | 5 | pad_type: logitechf710 6 | num_of_buttons: 11 7 | 8 | #MOVEMENT 9 | axis_linear_x: 1 10 | axis_linear_y: 0 11 | axis_angular: 3 12 | #FOR SUMMITX 13 | axis_linear_z: 5 14 | scale_linear_z: 20.0 15 | #SCALE FACTOR 16 | scale_linear: 1.5 17 | scale_angular: 1.5 18 | 19 | #SUMMIT XL CONTROLS 20 | button_speed_up: 3 21 | button_speed_down: 1 22 | button_dead_man: 5 23 | button_output_1: 2 24 | button_output_2: 0 25 | output_1: 10 26 | output_2: 11 27 | 28 | #AXIS CAMERA CONTROLS 29 | button_ptz_tilt_up: 5 30 | button_ptz_tilt_down: 5 31 | button_ptz_pan_right: 4 32 | button_ptz_pan_left: 4 33 | button_ptz_zoom_wide: 9 34 | button_ptz_zoom_tele: 8 35 | button_home: 6 36 | tilt_increment: 5 37 | pan_increment: 5 38 | zoom_increment: 300 39 | 40 | button_kinematic_mode: 7 41 | cmd_service_set_mode: /summit_xl_controller/set_mode 42 | cmd_service_home: /summit_xl_controller/home 43 | joystick_dead_zone: "true" #useful for x-wam 44 | -------------------------------------------------------------------------------- /summit_xl_pad/config/ps3.yaml: -------------------------------------------------------------------------------- 1 | num_of_buttons: 15 2 | axis_linear_x: 1 3 | axis_linear_y: 0 4 | axis_angular: 2 5 | axis_linear_z: 3 6 | scale_linear: 1.5 7 | scale_angular: 1.5 8 | scale_linear_z: 20.0 9 | button_speed_up: 12 10 | button_speed_down: 14 11 | button_dead_man: 11 12 | button_output_1: 15 13 | button_output_2: 13 14 | output_1: 1 15 | output_2: 2 16 | button_ptz_tilt_up: 4 17 | button_ptz_tilt_down: 6 18 | button_ptz_pan_right: 5 19 | button_ptz_pan_left: 7 20 | button_ptz_zoom_wide: 3 21 | button_ptz_zoom_tele: 0 22 | button_home: 8 23 | tilt_increment: 5 24 | pan_increment: 5 25 | zoom_increment: 300 26 | button_kinematic_mode: 9 27 | cmd_service_set_mode: /summit_xl_controller/set_mode 28 | cmd_service_home: /summit_xl_controller/home 29 | joystick_dead_zone: "true" #useful for x-wam 30 | -------------------------------------------------------------------------------- /summit_xl_pad/config/ps4.yaml: -------------------------------------------------------------------------------- 1 | pad_type: ps4 2 | num_of_buttons: 13 3 | axis_linear_x: 1 4 | axis_linear_y: 0 5 | axis_angular: 2 6 | axis_linear_z: 5 7 | scale_linear: 1.5 8 | scale_angular: 3 9 | scale_linear_z: 20.0 10 | button_speed_up: 3 11 | button_speed_down: 1 12 | button_bumber_override: 4 13 | button_dead_man: 5 14 | button_output_1: 9 15 | button_output_2: 10 16 | output_1: 1 17 | output_2: 2 18 | button_ptz_tilt_up: 10 #dpad on ps4 is an axis 19 | button_ptz_tilt_down: 10 20 | button_ptz_pan_right: 9 21 | button_ptz_pan_left: 9 22 | button_ptz_zoom_wide: 0 23 | button_ptz_zoom_tele: 2 24 | button_home: 8 25 | tilt_increment: 0.087 # radians 26 | pan_increment: 0.087 # radians 27 | zoom_increment: 300 28 | button_kinematic_mode: 7 29 | joystick_dead_zone: "true" #useful for x-wam 30 | -------------------------------------------------------------------------------- /summit_xl_pad/config/thrustmaster.yaml: -------------------------------------------------------------------------------- 1 | num_of_buttons: 13 2 | axis_linear: 1 3 | axis_angular: 2 4 | scale_linear: 2.0 5 | scale_angular: 6.0 6 | button_speed_up: 3 7 | button_speed_down: 1 8 | button_dead_man: 5 9 | button_output_1: 2 10 | button_output_2: 0 11 | output_1: 0 12 | output_2: 2 13 | # Works by means of axis instead of by buttons 14 | button_ptz_tilt_up: 4 15 | button_ptz_tilt_down: 6 16 | button_ptz_pan_right: 2 17 | button_ptz_pan_left: 0 18 | 19 | -------------------------------------------------------------------------------- /summit_xl_pad/config/xbox360.yaml: -------------------------------------------------------------------------------- 1 | #Under construction 2 | 3 | #Important: use xboxdrv --trigger-as-button --dpad-as-button --silent 4 | 5 | num_of_buttons: 17 6 | axis_linear: 1 7 | axis_angular: 2 8 | scale_linear: 1.0 9 | scale_angular: 2.0 10 | button_speed_up: 7 11 | button_speed_down: 4 12 | button_dead_man: 9 13 | button_output_1: 6 14 | button_output_2: 5 15 | output_1: 0 16 | output_2: 2 17 | button_ptz_tilt_up: 0 18 | button_ptz_tilt_down: 1 19 | button_ptz_pan_right: 3 20 | button_ptz_pan_left: 2 21 | button_kinematic_mode: 11 22 | button_home: 14 23 | pad_type: xbox360 24 | button_ptz_zoom_wide: 10 25 | button_ptz_zoom_tele: 8 26 | -------------------------------------------------------------------------------- /summit_xl_pad/launch/summit_xl_pad.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | -------------------------------------------------------------------------------- /summit_xl_pad/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | summit_xl_pad 4 | 5 | 1.1.3 6 | 7 | The summit_xl_pad package allows to control the summit_xl product range (summit_xl, summit_xl_omni, x_wam) teleoperation 8 | Angel Soriano 9 | Álvaro Villena 10 | David Redó 11 | Alejandro Arnal 12 | Marc Bosch 13 | Román Navarro 14 | 15 | BSD 16 | 17 | http://ros.org/wiki/summit_xl_pad 18 | https://github.com/RobotnikAutomation/summit_xl_common.git 19 | https://github.com/RobotnikAutomation/summit_xl_common/issues 20 | 21 | catkin 22 | 23 | robotnik_msgs 24 | roscpp 25 | sensor_msgs 26 | geometry_msgs 27 | diagnostic_updater 28 | message_generation 29 | 30 | robotnik_msgs 31 | roscpp 32 | sensor_msgs 33 | geometry_msgs 34 | message_runtime 35 | diagnostic_updater 36 | joy 37 | 38 | 39 | -------------------------------------------------------------------------------- /summit_xl_pad/srv/enable_disable_pad.srv: -------------------------------------------------------------------------------- 1 | bool value 2 | --- 3 | bool ret 4 | --------------------------------------------------------------------------------