├── .github ├── CODEOWNERS ├── ISSUE_TEMPLATE │ ├── bug.md │ └── feature.md └── workflows │ └── ci.yml ├── .gitignore ├── LICENSE ├── clearpath_bt_joy ├── CHANGELOG.rst ├── LICENSE ├── README.md ├── clearpath_bt_joy │ ├── __init__.py │ └── clearpath_bt_joy_cutoff_node.py ├── debian │ └── udev ├── package.xml ├── resource │ └── clearpath_bt_joy ├── setup.cfg └── setup.py ├── clearpath_common ├── CHANGELOG.rst ├── CMakeLists.txt ├── launch │ ├── platform.launch.py │ └── platform_extras.launch.py └── package.xml ├── clearpath_control ├── CHANGELOG.rst ├── CMakeLists.txt ├── config │ ├── a200 │ │ ├── control.yaml │ │ ├── localization.yaml │ │ ├── teleop_interactive_markers.yaml │ │ ├── teleop_logitech.yaml │ │ ├── teleop_ps4.yaml │ │ ├── teleop_ps5.yaml │ │ └── teleop_xbox.yaml │ ├── a300 │ │ ├── control.yaml │ │ ├── localization.yaml │ │ ├── teleop_interactive_markers.yaml │ │ ├── teleop_logitech.yaml │ │ ├── teleop_ps4.yaml │ │ ├── teleop_ps5.yaml │ │ └── teleop_xbox.yaml │ ├── dd100 │ │ ├── control.yaml │ │ ├── localization.yaml │ │ ├── teleop_interactive_markers.yaml │ │ ├── teleop_logitech.yaml │ │ ├── teleop_ps4.yaml │ │ ├── teleop_ps5.yaml │ │ └── teleop_xbox.yaml │ ├── dd150 │ │ ├── control.yaml │ │ ├── localization.yaml │ │ ├── teleop_interactive_markers.yaml │ │ ├── teleop_logitech.yaml │ │ ├── teleop_ps4.yaml │ │ ├── teleop_ps5.yaml │ │ └── teleop_xbox.yaml │ ├── do100 │ │ ├── control.yaml │ │ ├── localization.yaml │ │ ├── teleop_interactive_markers.yaml │ │ ├── teleop_logitech.yaml │ │ ├── teleop_ps4.yaml │ │ ├── teleop_ps5.yaml │ │ └── teleop_xbox.yaml │ ├── do150 │ │ ├── control.yaml │ │ ├── localization.yaml │ │ ├── teleop_interactive_markers.yaml │ │ ├── teleop_logitech.yaml │ │ ├── teleop_ps4.yaml │ │ ├── teleop_ps5.yaml │ │ └── teleop_xbox.yaml │ ├── generic │ │ ├── localization.yaml │ │ ├── teleop_interactive_markers.yaml │ │ ├── teleop_logitech.yaml │ │ ├── teleop_ps4.yaml │ │ ├── teleop_ps5.yaml │ │ └── teleop_xbox.yaml │ ├── imu_filter.yaml │ ├── j100 │ │ ├── control.yaml │ │ ├── localization.yaml │ │ ├── teleop_interactive_markers.yaml │ │ ├── teleop_logitech.yaml │ │ ├── teleop_ps4.yaml │ │ ├── teleop_ps5.yaml │ │ └── teleop_xbox.yaml │ ├── r100 │ │ ├── control.yaml │ │ ├── localization.yaml │ │ ├── teleop_interactive_markers.yaml │ │ ├── teleop_logitech.yaml │ │ ├── teleop_ps4.yaml │ │ ├── teleop_ps5.yaml │ │ └── teleop_xbox.yaml │ ├── twist_mux.yaml │ └── w200 │ │ ├── control.yaml │ │ ├── localization.yaml │ │ ├── teleop_interactive_markers.yaml │ │ ├── teleop_logitech.yaml │ │ ├── teleop_ps4.yaml │ │ ├── teleop_ps5.yaml │ │ └── teleop_xbox.yaml ├── launch │ ├── control.launch.py │ ├── localization.launch.py │ ├── teleop_base.launch.py │ └── teleop_joy.launch.py └── package.xml ├── clearpath_customization ├── CHANGELOG.rst ├── CMakeLists.txt ├── LICENSE ├── package.xml ├── project_bringup │ ├── CMakeLists.txt │ ├── LICENSE │ ├── config │ │ └── device.yaml │ ├── launch │ │ ├── device.launch.py │ │ └── project_bringup.launch.py │ └── package.xml ├── project_description │ ├── CMakeLists.txt │ ├── LICENSE │ ├── meshes │ │ └── donut.stl │ ├── package.xml │ └── urdf │ │ ├── donut.urdf.xacro │ │ └── project_description.urdf.xacro └── scripts │ ├── generate_bringup │ └── generate_description ├── clearpath_description ├── CHANGELOG.rst ├── CMakeLists.txt └── package.xml ├── clearpath_diagnostics ├── CHANGELOG.rst ├── CMakeLists.txt ├── config │ ├── diagnostic_aggregator.yaml │ ├── diagnostic_updater.yaml │ └── foxglove_bridge.yaml ├── include │ └── clearpath_diagnostics │ │ ├── clearpath_diagnostic_labels.hpp │ │ └── clearpath_diagnostic_updater.hpp ├── launch │ ├── diagnostics.launch.py │ └── foxglove_bridge.launch.py ├── package.xml └── src │ └── clearpath_diagnostic_updater.cpp ├── clearpath_generator_common ├── CHANGELOG.rst ├── CMakeLists.txt ├── clearpath_generator_common │ ├── __init__.py │ ├── bash │ │ ├── __init__.py │ │ ├── generate_bash │ │ ├── generator.py │ │ └── writer.py │ ├── common.py │ ├── description │ │ ├── __init__.py │ │ ├── attachments.py │ │ ├── generate_description │ │ ├── generator.py │ │ ├── links.py │ │ ├── manipulators.py │ │ ├── mounts.py │ │ ├── platform.py │ │ ├── sensors.py │ │ └── writer.py │ ├── discovery_server │ │ ├── generate_discovery_server │ │ └── generator.py │ ├── launch │ │ ├── __init__.py │ │ ├── generator.py │ │ └── writer.py │ ├── package │ │ ├── __init__.py │ │ └── writer.py │ ├── param │ │ ├── __init__.py │ │ ├── generator.py │ │ ├── manipulators.py │ │ ├── platform.py │ │ └── writer.py │ ├── ros.py │ ├── semantic_description │ │ ├── __init__.py │ │ ├── generate_semantic_description │ │ ├── generator.py │ │ └── manipulators.py │ ├── vcan │ │ ├── generate_vcan │ │ └── generator.py │ └── zenoh_router │ │ ├── generate_zenoh_router │ │ └── generator.py ├── debian │ └── install ├── install_config │ └── sysctl │ │ └── 70-clearpath-standard.conf ├── package.xml ├── src │ └── moveit_collision_updater.cpp └── test │ ├── test_generator_bash.py │ ├── test_generator_description.py │ ├── test_generator_discovery_server.py │ └── test_generator_vcan.py ├── clearpath_manipulators ├── CHANGELOG.rst ├── CMakeLists.txt ├── config │ ├── cartesian_limits.yaml │ ├── control.yaml │ ├── kinematics │ │ ├── arm.yaml │ │ ├── gripper.yaml │ │ └── lift.yaml │ ├── planning │ │ ├── chomp │ │ │ └── planning.yaml │ │ ├── ompl │ │ │ ├── defaults.yaml │ │ │ └── planning.yaml │ │ ├── pilz │ │ │ ├── defaults.yaml │ │ │ └── planning.yaml │ │ └── pipeline.yaml │ ├── planning_scene.yaml │ └── trajectory_execution.yaml ├── launch │ ├── control.launch.py │ ├── manipulators.launch.py │ └── moveit.launch.py └── package.xml ├── clearpath_manipulators_description ├── CHANGELOG.rst ├── CMakeLists.txt ├── config │ ├── arm │ │ ├── kinova_gen3_6dof │ │ │ ├── control.yaml │ │ │ ├── initial_positions.yaml │ │ │ ├── joint_limits.yaml │ │ │ └── moveit_controllers.yaml │ │ ├── kinova_gen3_7dof │ │ │ ├── control.yaml │ │ │ ├── initial_positions.yaml │ │ │ ├── joint_limits.yaml │ │ │ └── moveit_controllers.yaml │ │ ├── kinova_gen3_lite │ │ │ ├── control.yaml │ │ │ ├── initial_positions.yaml │ │ │ ├── joint_limits.yaml │ │ │ └── moveit_controllers.yaml │ │ └── universal_robots │ │ │ ├── control.yaml │ │ │ ├── initial_positions.yaml │ │ │ ├── joint_limits.yaml │ │ │ └── moveit_controllers.yaml │ ├── gripper │ │ ├── kinova_2f_lite │ │ │ ├── control.yaml │ │ │ ├── initial_positions.yaml │ │ │ ├── joint_limits.yaml │ │ │ └── moveit_controllers.yaml │ │ ├── robotiq_2f_140 │ │ │ ├── control.yaml │ │ │ ├── initial_positions.yaml │ │ │ ├── joint_limits.yaml │ │ │ └── moveit_controllers.yaml │ │ └── robotiq_2f_85 │ │ │ ├── control.yaml │ │ │ ├── initial_positions.yaml │ │ │ ├── joint_limits.yaml │ │ │ └── moveit_controllers.yaml │ └── lift │ │ └── ewellix │ │ ├── control.yaml │ │ ├── control_jpc.yaml │ │ ├── control_jtc.yaml │ │ ├── initial_positions.yaml │ │ ├── joint_limits.yaml │ │ ├── moveit_controllers.yaml │ │ ├── moveit_controllers_jpc.yaml │ │ └── moveit_controllers_jtc.yaml ├── launch │ └── description.launch.py ├── meshes │ └── gripper │ │ ├── robotiq_2f_140_base_link.stl │ │ ├── robotiq_2f_140_base_link_collision.stl │ │ ├── robotiq_2f_140_coupling.stl │ │ ├── robotiq_2f_140_coupling_collision.stl │ │ ├── robotiq_2f_140_inner_finger.stl │ │ ├── robotiq_2f_140_inner_finger_collision.stl │ │ ├── robotiq_2f_140_inner_knuckle.stl │ │ ├── robotiq_2f_140_inner_knuckle_collision.stl │ │ ├── robotiq_2f_140_outer_finger.stl │ │ ├── robotiq_2f_140_outer_finger_collision.stl │ │ ├── robotiq_2f_140_outer_knuckle.stl │ │ └── robotiq_2f_140_outer_knuckle_collision.stl ├── package.xml ├── srdf │ ├── arm │ │ ├── kinova_gen3_6dof.srdf.xacro │ │ ├── kinova_gen3_7dof.srdf.xacro │ │ ├── kinova_gen3_lite.srdf.xacro │ │ └── universal_robots.srdf.xacro │ ├── gripper │ │ ├── kinova_2f_lite.srdf.xacro │ │ ├── robotiq_2f_140.srdf.xacro │ │ └── robotiq_2f_85.srdf.xacro │ └── lift │ │ └── ewellix.srdf.xacro └── urdf │ ├── arm │ ├── kinova_gen3_6dof.urdf.xacro │ ├── kinova_gen3_7dof.urdf.xacro │ ├── kinova_gen3_lite.urdf.xacro │ └── universal_robots.urdf.xacro │ ├── gripper │ ├── kinova_2f_lite.urdf.xacro │ ├── robotiq_2f_140.urdf.xacro │ └── robotiq_2f_85.urdf.xacro │ └── lift │ └── ewellix.urdf.xacro ├── clearpath_mounts_description ├── CHANGELOG.rst ├── CMakeLists.txt ├── meshes │ ├── disk.stl │ ├── fath_pivot_mount.dae │ ├── fath_pivot_mount_base.dae │ ├── pacs │ │ ├── bracket_extension_20.stl │ │ ├── bracket_extension_40.stl │ │ ├── bracket_extension_60.stl │ │ ├── bracket_extension_80.stl │ │ ├── bracket_horizontal.stl │ │ ├── bracket_horizontal_large.stl │ │ ├── bracket_vertical.stl │ │ ├── riser_1x7.stl │ │ └── riser_8x7.stl │ ├── sick_inverted.dae │ └── sick_upright.stl ├── package.xml └── urdf │ ├── disk.urdf.xacro │ ├── fath_pivot.urdf.xacro │ ├── pacs │ ├── bracket.urdf.xacro │ ├── riser.urdf.xacro │ └── riser_leg.urdf.xacro │ ├── post.urdf.xacro │ └── sick.urdf.xacro ├── clearpath_platform_description ├── CHANGELOG.rst ├── CMakeLists.txt ├── launch │ └── description.launch.py ├── meshes │ ├── a200 │ │ ├── accessories │ │ │ ├── lidar_mount.stl │ │ │ ├── lms1xx_mount.dae │ │ │ └── lms1xx_mount.stl │ │ ├── attachments │ │ │ ├── 300_mm_sensor_arch.dae │ │ │ ├── 300_mm_sensor_arch.stl │ │ │ ├── 510_mm_sensor_arch.dae │ │ │ ├── 510_mm_sensor_arch.stl │ │ │ ├── bumper.dae │ │ │ ├── bumper2.dae │ │ │ ├── bumper3.dae │ │ │ ├── bumper_extension.dae │ │ │ ├── large_top_plate.dae │ │ │ ├── large_top_plate_collision.stl │ │ │ ├── observer_backpack_masts.stl │ │ │ ├── observer_backpack_shell.stl │ │ │ ├── pacs_top_plate.stl │ │ │ ├── top_plate.dae │ │ │ ├── top_plate.stl │ │ │ ├── user_rail.dae │ │ │ └── user_rail.stl │ │ ├── base_link.dae │ │ ├── base_link.stl │ │ ├── top_chassis.dae │ │ ├── top_chassis.stl │ │ ├── wheel.dae │ │ └── wheel.stl │ ├── a300 │ │ ├── attachments │ │ │ ├── bumper.dae │ │ │ ├── bumper_collision.stl │ │ │ └── top_plate.dae │ │ ├── chassis.dae │ │ ├── chassis_collision.stl │ │ ├── livery.dae │ │ ├── mobility │ │ │ ├── diff_drive.dae │ │ │ ├── diff_drive_collision.stl │ │ │ ├── wheel_smooth.dae │ │ │ └── wheel_tread.dae │ │ └── status_lights.dae │ ├── dd100 │ │ ├── attachments │ │ │ └── pacs_top_plate.stl │ │ ├── chassis.dae │ │ ├── chassis_collision.stl │ │ └── wheel.stl │ ├── do100 │ │ ├── mecanum_wheel.dae │ │ ├── old_mecanum_wheel.dae │ │ ├── omni_chassis.dae │ │ └── omni_chassis_collision.stl │ ├── j100 │ │ ├── attachments │ │ │ ├── ark_enclosure.stl │ │ │ ├── default_fender.stl │ │ │ └── sensor_fender.stl │ │ ├── bridge_plate.stl │ │ ├── camera_beam.stl │ │ ├── camera_bracket.stl │ │ ├── j100_base.stl │ │ ├── j100_wheel.stl │ │ ├── kinect_mount.stl │ │ ├── sick_lms1xx_inverted_bracket.stl │ │ ├── sick_lms1xx_upright_bracket.stl │ │ ├── stereo_camera_beam.stl │ │ ├── stereo_camera_bracket.stl │ │ ├── velodyne_tower.stl │ │ └── wibotic_bumper.stl │ ├── r100 │ │ ├── attachments │ │ │ ├── hams_mount.stl │ │ │ ├── hams_top.stl │ │ │ ├── leg.stl │ │ │ ├── tower_body.stl │ │ │ ├── tower_body_collision.stl │ │ │ ├── tower_shoulder.stl │ │ │ └── tower_shoulder_collision.stl │ │ ├── axle.stl │ │ ├── body-collision.stl │ │ ├── body.stl │ │ ├── end-cover.stl │ │ ├── lights.stl │ │ ├── rocker.stl │ │ ├── side-cover.stl │ │ ├── top.stl │ │ └── wheel.stl │ └── w200 │ │ ├── arm-mount-plate.stl │ │ ├── bulkhead-collision.stl │ │ ├── bulkhead.stl │ │ ├── chassis-collision.stl │ │ ├── chassis.stl │ │ ├── diff-link.stl │ │ ├── e-stop.stl │ │ ├── fenders.stl │ │ ├── generator.stl │ │ ├── light.stl │ │ ├── rocker.stl │ │ ├── susp-link.stl │ │ ├── tracks.dae │ │ ├── tracks_collision.stl │ │ └── wheel.stl ├── package.xml └── urdf │ ├── a200 │ ├── a200.urdf.xacro │ ├── attachments │ │ ├── bumper.urdf.xacro │ │ ├── observer_backpack.urdf.xacro │ │ ├── sensor_arch.urdf.xacro │ │ └── top_plate.urdf.xacro │ └── wheels │ │ └── wheel.urdf.xacro │ ├── a300 │ ├── a300.urdf.xacro │ ├── attachments │ │ ├── amp_frame.urdf.xacro │ │ ├── bumper.urdf.xacro │ │ └── top_plate.urdf.xacro │ ├── mobility │ │ └── diff_drive.urdf.xacro │ └── wheels │ │ └── wheel.urdf.xacro │ ├── common.urdf.xacro │ ├── dd100 │ ├── attachments │ │ └── top_plate.urdf.xacro │ ├── dd100.urdf.xacro │ └── wheels │ │ └── wheel.urdf.xacro │ ├── dd150 │ ├── attachments │ │ └── top_plate.urdf.xacro │ ├── dd150.urdf.xacro │ └── wheels │ │ └── wheel.urdf.xacro │ ├── do100 │ ├── attachments │ │ └── top_plate.urdf.xacro │ ├── do100.urdf.xacro │ └── wheels │ │ └── wheel.urdf.xacro │ ├── do150 │ ├── attachments │ │ └── top_plate.urdf.xacro │ └── do150.urdf.xacro │ ├── generic │ └── gazebo.urdf.xacro │ ├── j100 │ ├── attachments │ │ ├── fender.urdf.xacro │ │ └── top_plate.urdf.xacro │ ├── j100.urdf.xacro │ └── wheels │ │ └── wheel.urdf.xacro │ ├── links │ ├── box.urdf.xacro │ ├── cylinder.urdf.xacro │ ├── frame.urdf.xacro │ ├── mesh.urdf.xacro │ └── sphere.urdf.xacro │ ├── r100 │ ├── attachments │ │ ├── fams.urdf.xacro │ │ ├── hams.urdf.xacro │ │ ├── legs.urdf.xacro │ │ └── tower.urdf.xacro │ ├── r100.urdf.xacro │ ├── rocker.urdf.xacro │ └── wheels │ │ └── wheel.urdf.xacro │ └── w200 │ ├── attachments │ ├── arm_plate.urdf.xacro │ ├── bulkhead.urdf.xacro │ └── generator.urdf.xacro │ ├── diff_unit.urdf.xacro │ ├── w200.urdf.xacro │ └── wheels │ ├── track.urdf.xacro │ └── wheel.urdf.xacro ├── clearpath_sensors_description ├── CHANGELOG.rst ├── CMakeLists.txt ├── meshes │ ├── axis_dome.stl │ ├── axis_q62_base.stl │ ├── axis_q62_top.stl │ ├── fixposition.stl │ ├── flir_blackfly.stl │ ├── gnss_helical.stl │ ├── gnss_patch.stl │ ├── gnss_spherical.stl │ ├── hokuyo_ust.stl │ ├── hokuyo_utm30.stl │ ├── novatel_smart6.stl │ ├── novatel_smart7.stl │ ├── oakd_lite.dae │ ├── oakd_pro.dae │ ├── oakd_pro_w_poe.dae │ ├── ouster │ │ ├── os1_base.dae │ │ ├── os1_fins.dae │ │ ├── os1_halo.dae │ │ └── os1_lidar.dae │ ├── seyond_robin_w.stl │ ├── sick_lms1xx_collision.stl │ └── sick_lms1xx_small.dae ├── package.xml └── urdf │ ├── axis │ ├── axis_dome_fixed.urdf.xacro │ ├── axis_dome_ptz.urdf.xacro │ └── axis_q62.urdf.xacro │ ├── axis_camera.urdf.xacro │ ├── chrobotics_um6.urdf.xacro │ ├── fixposition.urdf.xacro │ ├── flir_blackfly.urdf.xacro │ ├── garmin_18x.urdf.xacro │ ├── gnss_antenna.urdf.xacro │ ├── hokuyo_ust.urdf.xacro │ ├── intel │ ├── d415.urdf.xacro │ ├── d435.urdf.xacro │ ├── d435i.urdf.xacro │ ├── d455.urdf.xacro │ └── d456.urdf.xacro │ ├── intel_realsense.urdf.xacro │ ├── luxonis_oakd.urdf.xacro │ ├── microstrain_gq7.urdf.xacro │ ├── microstrain_imu.urdf.xacro │ ├── novatel_smart6.urdf.xacro │ ├── novatel_smart7.urdf.xacro │ ├── ouster_os1.urdf.xacro │ ├── phidgets_spatial.urdf.xacro │ ├── redshift_um7.urdf.xacro │ ├── seyond_lidar.urdf.xacro │ ├── sick_lms1xx.urdf.xacro │ ├── stereolabs_zed.urdf.xacro │ ├── swiftnav_duro.urdf.xacro │ ├── velodyne_lidar.urdf.xacro │ └── wiferion.urdf.xacro └── dependencies.repos /.github/CODEOWNERS: -------------------------------------------------------------------------------- 1 | # Default all changes will request review from: 2 | * @clearpathrobotics/clearpath-platform-team 3 | -------------------------------------------------------------------------------- /.github/ISSUE_TEMPLATE/bug.md: -------------------------------------------------------------------------------- 1 | --- 2 | name: Bug Report 3 | about: Provide a report for that the issue is 4 | title: '' 5 | labels: bug 6 | assignees: clearpathrobotics/clearpath-platform-team 7 | 8 | --- 9 | 10 | **Please provide the following information:** 11 | - OS: (e.g. Ubuntu 24.04) 12 | - ROS 2 Distro: (e.g. Jazzy) 13 | - Built from source or installed: 14 | - Package version: (if from repository, give version from `sudo dpkg -s ros-$ROS_DISTRO-clearpath-common`, if from source, give commit hash) 15 | - Real hardware or simulation: 16 | 17 | **Expected behaviour** 18 | A clear and concise description of what you expected to happen. 19 | 20 | **Actual behaviour** 21 | A clear and concise description of what you encountered. 22 | 23 | **To Reproduce** 24 | Provide the steps to reproduce: 25 | 1. run something 26 | 2. launch something else 27 | 3. see the error 28 | 29 | 30 | **Other notes** 31 | Add anything else you think is important. 32 | -------------------------------------------------------------------------------- /.github/ISSUE_TEMPLATE/feature.md: -------------------------------------------------------------------------------- 1 | --- 2 | name: Feature request 3 | about: Provide context for the feature you are requesting 4 | title: '' 5 | labels: enhancement 6 | assignees: clearpathrobotics/clearpath-platform-team 7 | 8 | --- 9 | 10 | **Describe the the feature you would like** 11 | A clear and concise description of what you want to happen. 12 | 13 | **Other notes** 14 | Add anything else you think is important. 15 | -------------------------------------------------------------------------------- /.gitignore: -------------------------------------------------------------------------------- 1 | __pycache__/ 2 | *.py[cod] -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- 1 | BSD 3-Clause License 2 | 3 | Copyright (c) 2023, clearpathrobotics 4 | 5 | Redistribution and use in source and binary forms, with or without 6 | modification, are permitted provided that the following conditions are met: 7 | 8 | 1. Redistributions of source code must retain the above copyright notice, this 9 | list of conditions and the following disclaimer. 10 | 11 | 2. Redistributions in binary form must reproduce the above copyright notice, 12 | this list of conditions and the following disclaimer in the documentation 13 | and/or other materials provided with the distribution. 14 | 15 | 3. Neither the name of the copyright holder nor the names of its 16 | contributors may be used to endorse or promote products derived from 17 | this software without specific prior written permission. 18 | 19 | THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 20 | AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 21 | IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE 22 | DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE 23 | FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL 24 | DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR 25 | SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 26 | CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, 27 | OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE 28 | OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 29 | -------------------------------------------------------------------------------- /clearpath_bt_joy/LICENSE: -------------------------------------------------------------------------------- 1 | BSD 3-Clause License 2 | 3 | Copyright (c) 2024, clearpathrobotics 4 | 5 | Redistribution and use in source and binary forms, with or without 6 | modification, are permitted provided that the following conditions are met: 7 | 8 | 1. Redistributions of source code must retain the above copyright notice, this 9 | list of conditions and the following disclaimer. 10 | 11 | 2. Redistributions in binary form must reproduce the above copyright notice, 12 | this list of conditions and the following disclaimer in the documentation 13 | and/or other materials provided with the distribution. 14 | 15 | 3. Neither the name of the copyright holder nor the names of its 16 | contributors may be used to endorse or promote products derived from 17 | this software without specific prior written permission. 18 | 19 | THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 20 | AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 21 | IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE 22 | DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE 23 | FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL 24 | DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR 25 | SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 26 | CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, 27 | OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE 28 | OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 29 | -------------------------------------------------------------------------------- /clearpath_bt_joy/README.md: -------------------------------------------------------------------------------- 1 | # clearpath_bt_joy 2 | 3 | Monitors a bluetooth joy controller's link quality and cuts it off if the signal strength drops 4 | below a given threshold. 5 | 6 | This provides a safety mechanism by which controllers that go out-of-range and latch their 7 | last-received input will not force the robot into an uncontrollable state. -------------------------------------------------------------------------------- /clearpath_bt_joy/clearpath_bt_joy/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/clearpathrobotics/clearpath_common/6d17dba3b8446f3505528ba94d7a6ec58b3973d1/clearpath_bt_joy/clearpath_bt_joy/__init__.py -------------------------------------------------------------------------------- /clearpath_bt_joy/debian/udev: -------------------------------------------------------------------------------- 1 | KERNEL=="uinput", MODE="0666" 2 | KERNEL=="event*", MODE="0666" 3 | 4 | 5 | # Sony PlayStation DualShock 4 6 | # USB 7 | KERNEL=="hidraw*", SUBSYSTEM=="hidraw", ATTRS{idVendor}=="054c", ATTRS{idProduct}=="05c4", MODE="0666" 8 | # Bluetooth 9 | KERNEL=="hidraw*", SUBSYSTEM=="hidraw", KERNELS=="*:054C:05C4.*", MODE="0666" 10 | 11 | # Sony PlayStation DualShock 4 Slim 12 | # USB 13 | KERNEL=="hidraw*", SUBSYSTEM=="hidraw", ATTRS{idVendor}=="054c", ATTRS{idProduct}=="09cc", MODE="0666" 14 | # Bluetooth 15 | KERNEL=="hidraw*", SUBSYSTEM=="hidraw", KERNELS=="*:054C:09CC.*", MODE="0666" 16 | # Disabled to use DS4DRV Managed Wireless Controller 17 | # KERNEL=="js*", SUBSYSTEM=="input", ATTRS{name}=="Wireless Controller", MODE="0666", SYMLINK+="input/ps4" 18 | 19 | 20 | # Sony PlayStation DualShock 5 21 | # Bluetooth 22 | KERNEL=="js*", SUBSYSTEM=="input", KERNELS=="*:054C:0CE6.*", MODE="0666", SYMLINK+="input/ps5" 23 | 24 | 25 | # Logitech game controllers 26 | KERNEL=="js*", ATTRS{idVendor}=="046d", ATTRS{idProduct}=="c21f", SYMLINK+="input/f710" 27 | KERNEL=="js*", ATTRS{idVendor}=="046d", ATTRS{idProduct}=="c219", SYMLINK+="input/f710" 28 | KERNEL=="js*", ATTRS{idVendor}=="046d", ATTRS{idProduct}=="c21d", SYMLINK+="input/f310" 29 | 30 | 31 | # Xbox One controller 32 | KERNEL=="js*", ATTRS{idVendor}=="1d6b", ATTRS{idProduct}=="0002", ATTRS{name}=="*Xbox*", MODE="0666", SYMLINK="input/xbox" 33 | -------------------------------------------------------------------------------- /clearpath_bt_joy/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | clearpath_bt_joy 5 | 2.5.0 6 | Clearpath bluetooth joy controller signal quality monitoring node 7 | Chris Iverach-Brereton 8 | BSD-3 9 | 10 | ament_copyright 11 | ament_flake8 12 | ament_pep257 13 | python3-pytest 14 | 15 | bluez 16 | joy_linux 17 | twist_mux 18 | 19 | 20 | ament_python 21 | 22 | 23 | -------------------------------------------------------------------------------- /clearpath_bt_joy/resource/clearpath_bt_joy: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/clearpathrobotics/clearpath_common/6d17dba3b8446f3505528ba94d7a6ec58b3973d1/clearpath_bt_joy/resource/clearpath_bt_joy -------------------------------------------------------------------------------- /clearpath_bt_joy/setup.cfg: -------------------------------------------------------------------------------- 1 | [metadata] 2 | name=clearpath_bt_joy 3 | version = attr: clearpath_bt_joy.__version__ 4 | author = Chris Iverach-Brereton 5 | author_email = civerachb@clearpathrobotics.com 6 | maintainer = Chris Iverach-Brereton 7 | maintainer_email = civerachb@clearpathrobotics.com 8 | description = Clearpath bluetooth joy node 9 | 10 | [options] 11 | install_requires = 12 | requests 13 | importlib-metadata; python_version < "3.8" 14 | 15 | [develop] 16 | script_dir=$base/lib/clearpath_bt_joy 17 | 18 | [install] 19 | install_scripts=$base/lib/clearpath_bt_joy 20 | -------------------------------------------------------------------------------- /clearpath_common/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 3.5) 2 | 3 | project(clearpath_common NONE) 4 | find_package(ament_cmake REQUIRED) 5 | 6 | install( 7 | DIRECTORY launch 8 | DESTINATION share/${PROJECT_NAME} 9 | ) 10 | 11 | ament_package() 12 | -------------------------------------------------------------------------------- /clearpath_common/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | clearpath_common 5 | 2.5.0 6 | Clearpath Common Metapackage 7 | 8 | Luis Camero 9 | Roni Kreinin 10 | Tony Baltovski 11 | 12 | BSD 13 | 14 | ament_cmake 15 | 16 | clearpath_control 17 | clearpath_description 18 | clearpath_generator_common 19 | 20 | 21 | ament_cmake 22 | 23 | 24 | -------------------------------------------------------------------------------- /clearpath_control/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 3.5) 2 | project(clearpath_control) 3 | 4 | 5 | find_package(ament_cmake REQUIRED) 6 | 7 | 8 | install(DIRECTORY config launch 9 | DESTINATION share/${PROJECT_NAME} 10 | ) 11 | 12 | ament_package() -------------------------------------------------------------------------------- /clearpath_control/config/a200/control.yaml: -------------------------------------------------------------------------------- 1 | controller_manager: 2 | ros__parameters: 3 | update_rate: 50 # Hz 4 | use_sim_time: False 5 | 6 | joint_state_broadcaster.type: joint_state_broadcaster/JointStateBroadcaster 7 | 8 | platform_velocity_controller.type: diff_drive_controller/DiffDriveController 9 | 10 | platform_velocity_controller: 11 | ros__parameters: 12 | use_sim_time: False 13 | left_wheel_names: [ "front_left_wheel_joint", "rear_left_wheel_joint" ] 14 | right_wheel_names: [ "front_right_wheel_joint", "rear_right_wheel_joint" ] 15 | 16 | wheel_separation: 0.555 #0.1 # 0.256 # 0.512 17 | wheels_per_side: 1 # actually 2, but both are controlled by 1 signal 18 | wheel_radius: 0.1651 # 0.015 19 | 20 | wheel_separation_multiplier: 1.875 21 | left_wheel_radius_multiplier: 1.0 22 | right_wheel_radius_multiplier: 1.0 23 | 24 | publish_rate: 50.0 25 | odom_frame_id: odom 26 | base_frame_id: base_link 27 | pose_covariance_diagonal : [0.001, 0.001, 0.001, 0.001, 0.001, 0.01] 28 | twist_covariance_diagonal: [0.001, 0.001, 0.001, 0.001, 0.001, 0.01] 29 | 30 | open_loop: false 31 | enable_odom_tf: false 32 | tf_frame_prefix_enable: false 33 | 34 | cmd_vel_timeout: 0.5 35 | use_stamped_vel: true 36 | #velocity_rolling_window_size: 10 37 | 38 | # Preserve turning radius when limiting speed/acceleration/jerk 39 | preserve_turning_radius: true 40 | 41 | # Publish limited velocity 42 | publish_limited_velocity: true 43 | 44 | # Publish wheel data 45 | publish_wheel_data: true 46 | 47 | # Velocity and acceleration limits 48 | # Whenever a min_* is unspecified, default to -max_* 49 | linear.x.max_velocity: 1.0 50 | linear.x.min_velocity: -1.0 51 | linear.x.max_acceleration: 1.0 52 | linear.x.max_jerk: .NAN 53 | linear.x.min_jerk: .NAN 54 | 55 | angular.z.max_velocity: 1.0 56 | angular.z.min_velocity: -1.0 57 | angular.z.max_acceleration: 1.0 58 | angular.z.max_deceleration: -1.0 59 | angular.z.max_jerk: .NAN 60 | angular.z.min_jerk: .NAN 61 | -------------------------------------------------------------------------------- /clearpath_control/config/a200/localization.yaml: -------------------------------------------------------------------------------- 1 | ekf_node: 2 | ros__parameters: 3 | odom_frame: odom 4 | base_link_frame: base_link 5 | world_frame: odom 6 | publish_tf: true 7 | two_d_mode: true 8 | use_sim_time: false 9 | print_diagnostics: true 10 | 11 | frequency: 50.0 12 | 13 | odom0: platform/odom 14 | odom0_config: [true, true, false, 15 | false, false, true, 16 | true, true, false, 17 | false, false, true, 18 | false, false, false] 19 | odom0_differential: false 20 | odom0_queue_size: 10 21 | 22 | -------------------------------------------------------------------------------- /clearpath_control/config/a200/teleop_interactive_markers.yaml: -------------------------------------------------------------------------------- 1 | twist_server_node: 2 | ros__parameters: 3 | link_name: base_link 4 | robot: a200 5 | linear_scale: 1.0 6 | max_positive_linear_velocity: 1.0 7 | max_negative_linear_velocity: -1.0 -------------------------------------------------------------------------------- /clearpath_control/config/a200/teleop_logitech.yaml: -------------------------------------------------------------------------------- 1 | # Teleop configuration for Logitech F710 Gamepad using the x-pad configuration. 2 | # Left thumb-stick up/down for velocity, left/right for twist 3 | # LB for enable 4 | # RB for enable-turbo 5 | # 6 | # (LB) (RB) 7 | # (LT) (RT) 8 | # _=====_ D( .)X _=====_ 9 | # / _____ \ / _____ \ 10 | # +.-'_____'-.---------------------------.-'_____'-.+ 11 | # / | | '. .' | | \ 12 | # / ___| /|\ |___ \ (back)(Lgtc)(strt) / ___| (Y) |___ \ 13 | # / | | | ; __ __ ; | | | 14 | # | | <--- ---> | | (__) . (__) | | (X) (B)| | 15 | # | |___ | ___| ; MODE VIBE ; |___ ____| / 16 | # |\ | \|/ | / _ ___ _ \ | (A) | /| 17 | # | \ |_____| .','" "', |___| ,'" "', '. |_____| .' | 18 | # | '-.______.-' / \ANALOG/ \ '-._____.-' | 19 | # | | LJ |------| RJ | | 20 | # | /\ / \ /\ | 21 | # | / '.___.' '.___.' \ | 22 | # | / \ | 23 | # \ / \ / 24 | # \________/ \_________/ 25 | # 26 | # BUTTON Value 27 | # LB 4 28 | # RB 5 29 | # A 0 30 | # B 1 31 | # X 2 32 | # Y 3 33 | # 34 | # AXIS Value 35 | # Left Horiz. 0 36 | # Left Vert. 1 37 | # Right Horiz. 3 38 | # Right Vert. 4 39 | # Left Trigger 2 40 | # Right Trigger 5 41 | # D-pad Horiz. 6 42 | # D-pad Vert. 7 43 | 44 | teleop_twist_joy_node: 45 | ros__parameters: 46 | publish_stamped_twist: True 47 | use_sim_time: False 48 | axis_linear.x: 1 49 | scale_linear.x: 0.4 50 | scale_linear_turbo.x: 1.0 51 | axis_angular.yaw: 0 52 | scale_angular.yaw: 0.6 53 | scale_angular_turbo.yaw: 1.2 54 | enable_button: 4 55 | enable_turbo_button: 5 56 | joy_node: 57 | ros__parameters: 58 | use_sim_time: False 59 | deadzone: 0.1 60 | autorepeat_rate: 20.0 61 | dev: /dev/input/f710 62 | -------------------------------------------------------------------------------- /clearpath_control/config/a300/localization.yaml: -------------------------------------------------------------------------------- 1 | ekf_node: 2 | ros__parameters: 3 | odom_frame: odom 4 | base_link_frame: base_link 5 | world_frame: odom 6 | publish_tf: true 7 | two_d_mode: true 8 | use_sim_time: false 9 | print_diagnostics: true 10 | 11 | frequency: 50.0 12 | 13 | odom0: platform/odom 14 | odom0_config: [true, true, false, 15 | false, false, true, 16 | true, true, false, 17 | false, false, true, 18 | false, false, false] 19 | odom0_differential: false 20 | odom0_queue_size: 10 21 | 22 | -------------------------------------------------------------------------------- /clearpath_control/config/a300/teleop_interactive_markers.yaml: -------------------------------------------------------------------------------- 1 | twist_server_node: 2 | ros__parameters: 3 | link_name: base_link 4 | robot: a300 5 | linear_scale: 1.0 6 | max_positive_linear_velocity: 1.0 7 | max_negative_linear_velocity: -1.0 8 | -------------------------------------------------------------------------------- /clearpath_control/config/a300/teleop_logitech.yaml: -------------------------------------------------------------------------------- 1 | # Teleop configuration for Logitech F710 Gamepad using the x-pad configuration. 2 | # Left thumb-stick up/down for velocity, left/right for twist 3 | # LB for enable 4 | # RB for enable-turbo 5 | # 6 | # (LB) (RB) 7 | # (LT) (RT) 8 | # _=====_ D( .)X _=====_ 9 | # / _____ \ / _____ \ 10 | # +.-'_____'-.---------------------------.-'_____'-.+ 11 | # / | | '. .' | | \ 12 | # / ___| /|\ |___ \ (back)(Lgtc)(strt) / ___| (Y) |___ \ 13 | # / | | | ; __ __ ; | | | 14 | # | | <--- ---> | | (__) . (__) | | (X) (B)| | 15 | # | |___ | ___| ; MODE VIBE ; |___ ____| / 16 | # |\ | \|/ | / _ ___ _ \ | (A) | /| 17 | # | \ |_____| .','" "', |___| ,'" "', '. |_____| .' | 18 | # | '-.______.-' / \ANALOG/ \ '-._____.-' | 19 | # | | LJ |------| RJ | | 20 | # | /\ / \ /\ | 21 | # | / '.___.' '.___.' \ | 22 | # | / \ | 23 | # \ / \ / 24 | # \________/ \_________/ 25 | # 26 | # BUTTON Value 27 | # LB 4 28 | # RB 5 29 | # A 0 30 | # B 1 31 | # X 2 32 | # Y 3 33 | # 34 | # AXIS Value 35 | # Left Horiz. 0 36 | # Left Vert. 1 37 | # Right Horiz. 3 38 | # Right Vert. 4 39 | # Left Trigger 2 40 | # Right Trigger 5 41 | # D-pad Horiz. 6 42 | # D-pad Vert. 7 43 | 44 | teleop_twist_joy_node: 45 | ros__parameters: 46 | use_sim_time: False 47 | axis_linear.x: 1 48 | scale_linear.x: 0.4 49 | scale_linear_turbo.x: 1.5 50 | axis_angular.yaw: 0 51 | scale_angular.yaw: 0.5 52 | scale_angular_turbo.yaw: 1.0 53 | enable_button: 4 54 | enable_turbo_button: 5 55 | joy_node: 56 | ros__parameters: 57 | use_sim_time: False 58 | deadzone: 0.1 59 | autorepeat_rate: 20.0 60 | dev: /dev/input/f710 61 | -------------------------------------------------------------------------------- /clearpath_control/config/dd100/localization.yaml: -------------------------------------------------------------------------------- 1 | ekf_node: 2 | ros__parameters: 3 | odom_frame: odom 4 | base_link_frame: base_link 5 | world_frame: odom 6 | publish_tf: true 7 | two_d_mode: true 8 | use_sim_time: false 9 | print_diagnostics: true 10 | 11 | frequency: 50.0 12 | 13 | odom0: platform/odom 14 | odom0_config: [true, true, false, 15 | false, false, true, 16 | true, true, false, 17 | false, false, true, 18 | false, false, false] 19 | odom0_differential: false 20 | odom0_queue_size: 10 21 | -------------------------------------------------------------------------------- /clearpath_control/config/dd100/teleop_interactive_markers.yaml: -------------------------------------------------------------------------------- 1 | twist_server_node: 2 | ros__parameters: 3 | use_sim_time: False 4 | link_name: base_link 5 | robot: dd100 6 | linear_scale: 1.0 7 | max_positive_linear_velocity: 1.0 8 | max_negative_linear_velocity: -1.0 9 | -------------------------------------------------------------------------------- /clearpath_control/config/dd150/localization.yaml: -------------------------------------------------------------------------------- 1 | ekf_node: 2 | ros__parameters: 3 | odom_frame: odom 4 | base_link_frame: base_link 5 | world_frame: odom 6 | publish_tf: true 7 | two_d_mode: true 8 | use_sim_time: false 9 | print_diagnostics: true 10 | 11 | frequency: 50.0 12 | 13 | odom0: platform/odom 14 | odom0_config: [true, true, false, 15 | false, false, true, 16 | true, true, false, 17 | false, false, true, 18 | false, false, false] 19 | odom0_differential: false 20 | odom0_queue_size: 10 21 | -------------------------------------------------------------------------------- /clearpath_control/config/dd150/teleop_interactive_markers.yaml: -------------------------------------------------------------------------------- 1 | twist_server_node: 2 | ros__parameters: 3 | use_sim_time: False 4 | link_name: base_link 5 | robot: dd150 6 | linear_scale: 1.0 7 | max_positive_linear_velocity: 1.0 8 | max_negative_linear_velocity: -1.0 9 | -------------------------------------------------------------------------------- /clearpath_control/config/do100/localization.yaml: -------------------------------------------------------------------------------- 1 | ekf_node: 2 | ros__parameters: 3 | odom_frame: odom 4 | base_link_frame: base_link 5 | world_frame: odom 6 | publish_tf: true 7 | two_d_mode: true 8 | use_sim_time: false 9 | print_diagnostics: true 10 | 11 | frequency: 50.0 12 | 13 | odom0: platform/odom 14 | odom0_config: [true, true, false, 15 | false, false, true, 16 | true, true, false, 17 | false, false, true, 18 | false, false, false] 19 | odom0_differential: false 20 | odom0_queue_size: 10 21 | -------------------------------------------------------------------------------- /clearpath_control/config/do100/teleop_interactive_markers.yaml: -------------------------------------------------------------------------------- 1 | twist_server_node: 2 | ros__parameters: 3 | use_sim_time: False 4 | link_name: base_link 5 | robot: do100 6 | linear_scale: 1.0 7 | max_positive_linear_velocity: 1.0 8 | max_negative_linear_velocity: -1.0 9 | -------------------------------------------------------------------------------- /clearpath_control/config/do150/localization.yaml: -------------------------------------------------------------------------------- 1 | ekf_node: 2 | ros__parameters: 3 | odom_frame: odom 4 | base_link_frame: base_link 5 | world_frame: odom 6 | publish_tf: true 7 | two_d_mode: true 8 | use_sim_time: false 9 | print_diagnostics: true 10 | 11 | frequency: 50.0 12 | 13 | odom0: platform/odom 14 | odom0_config: [true, true, false, 15 | false, false, true, 16 | true, true, false, 17 | false, false, true, 18 | false, false, false] 19 | odom0_differential: false 20 | odom0_queue_size: 10 21 | -------------------------------------------------------------------------------- /clearpath_control/config/do150/teleop_interactive_markers.yaml: -------------------------------------------------------------------------------- 1 | twist_server_node: 2 | ros__parameters: 3 | use_sim_time: False 4 | link_name: base_link 5 | robot: do150 6 | linear_scale: 1.0 7 | max_positive_linear_velocity: 1.0 8 | max_negative_linear_velocity: -1.0 9 | -------------------------------------------------------------------------------- /clearpath_control/config/generic/localization.yaml: -------------------------------------------------------------------------------- 1 | ekf_node: 2 | ros__parameters: 3 | odom_frame: odom 4 | base_link_frame: base_link 5 | world_frame: odom 6 | publish_tf: true 7 | two_d_mode: true 8 | use_sim_time: false 9 | print_diagnostics: true 10 | 11 | frequency: 50.0 12 | 13 | odom0: platform/odom 14 | odom0_config: [true, true, false, 15 | false, false, true, 16 | true, true, false, 17 | false, false, true, 18 | false, false, false] 19 | odom0_differential: false 20 | odom0_queue_size: 10 21 | 22 | -------------------------------------------------------------------------------- /clearpath_control/config/generic/teleop_interactive_markers.yaml: -------------------------------------------------------------------------------- 1 | twist_server_node: 2 | ros__parameters: 3 | link_name: base_link 4 | robot: generic 5 | linear_scale: 1.0 6 | max_positive_linear_velocity: 1.0 7 | max_negative_linear_velocity: -1.0 8 | -------------------------------------------------------------------------------- /clearpath_control/config/imu_filter.yaml: -------------------------------------------------------------------------------- 1 | imu_filter_node: 2 | ros__parameters: 3 | use_sim_time: False 4 | stateless: false 5 | use_mag: false 6 | publish_tf: false 7 | reverse_tf: false 8 | fixed_frame: "odom" 9 | constant_dt: 0.0 10 | publish_debug_topics: false 11 | world_frame: "enu" 12 | gain: 0.1 13 | zeta: 0.0 14 | mag_bias_x: 0.0 15 | mag_bias_y: 0.0 16 | mag_bias_z: 0.0 17 | orientation_stddev: 0.0 18 | -------------------------------------------------------------------------------- /clearpath_control/config/j100/control.yaml: -------------------------------------------------------------------------------- 1 | controller_manager: 2 | ros__parameters: 3 | update_rate: 50 # Hz 4 | use_sim_time: False 5 | 6 | joint_state_broadcaster.type: joint_state_broadcaster/JointStateBroadcaster 7 | 8 | platform_velocity_controller.type: diff_drive_controller/DiffDriveController 9 | 10 | platform_velocity_controller: 11 | ros__parameters: 12 | use_sim_time: False 13 | left_wheel_names: [ "front_left_wheel_joint", "rear_left_wheel_joint" ] 14 | right_wheel_names: [ "front_right_wheel_joint", "rear_right_wheel_joint" ] 15 | 16 | wheel_separation: 0.37559 17 | wheels_per_side: 1 # actually 2, but both are controlled by 1 signal 18 | wheel_radius: 0.098 19 | 20 | wheel_separation_multiplier: 1.5 21 | left_wheel_radius_multiplier: 1.0 22 | right_wheel_radius_multiplier: 1.0 23 | 24 | publish_rate: 50.0 25 | odom_frame_id: odom 26 | base_frame_id: base_link 27 | pose_covariance_diagonal : [0.001, 0.001, 0.001, 0.001, 0.001, 0.01] 28 | twist_covariance_diagonal: [0.001, 0.001, 0.001, 0.001, 0.001, 0.01] 29 | 30 | open_loop: false 31 | enable_odom_tf: false 32 | tf_frame_prefix_enable: false 33 | 34 | cmd_vel_timeout: 0.5 35 | use_stamped_vel: true 36 | #velocity_rolling_window_size: 10 37 | 38 | # Preserve turning radius when limiting speed/acceleration/jerk 39 | preserve_turning_radius: true 40 | 41 | # Publish limited velocity 42 | publish_limited_velocity: true 43 | 44 | # Publish wheel data 45 | publish_wheel_data: true 46 | 47 | # Velocity and acceleration limits 48 | # Whenever a min_* is unspecified, default to -max_* 49 | linear.x.max_velocity: 2.0 50 | linear.x.min_velocity: -2.0 51 | linear.x.max_acceleration: 20.0 52 | linear.x.max_deceleration: -20.0 53 | linear.x.max_jerk: .NAN 54 | linear.x.min_jerk: .NAN 55 | 56 | angular.z.max_velocity: 4.0 57 | angular.z.min_velocity: -4.0 58 | angular.z.max_acceleration: 25.0 59 | angular.z.max_deceleration: -25.0 60 | angular.z.max_jerk: .NAN 61 | angular.z.min_jerk: .NAN 62 | -------------------------------------------------------------------------------- /clearpath_control/config/j100/localization.yaml: -------------------------------------------------------------------------------- 1 | ekf_node: 2 | ros__parameters: 3 | odom_frame: odom 4 | base_link_frame: base_link 5 | world_frame: odom 6 | publish_tf: true 7 | two_d_mode: true 8 | use_sim_time: false 9 | print_diagnostics: true 10 | 11 | frequency: 50.0 12 | 13 | odom0: platform/odom 14 | odom0_config: [true, true, false, 15 | false, false, true, 16 | true, true, false, 17 | false, false, true, 18 | false, false, false] 19 | odom0_differential: false 20 | odom0_queue_size: 10 21 | -------------------------------------------------------------------------------- /clearpath_control/config/j100/teleop_interactive_markers.yaml: -------------------------------------------------------------------------------- 1 | twist_server_node: 2 | ros__parameters: 3 | use_sim_time: False 4 | link_name: base_link 5 | robot: j100 6 | linear_scale: 1.0 7 | max_positive_linear_velocity: 1.0 8 | max_negative_linear_velocity: -1.0 -------------------------------------------------------------------------------- /clearpath_control/config/r100/localization.yaml: -------------------------------------------------------------------------------- 1 | ekf_node: 2 | ros__parameters: 3 | odom_frame: odom 4 | base_link_frame: base_link 5 | world_frame: odom 6 | publish_tf: true 7 | two_d_mode: true 8 | use_sim_time: false 9 | print_diagnostics: true 10 | 11 | frequency: 50.0 12 | 13 | odom0: platform/odom 14 | odom0_config: [true, true, false, 15 | false, false, true, 16 | true, true, false, 17 | false, false, true, 18 | false, false, false] 19 | odom0_differential: false 20 | odom0_queue_size: 10 21 | -------------------------------------------------------------------------------- /clearpath_control/config/r100/teleop_interactive_markers.yaml: -------------------------------------------------------------------------------- 1 | twist_server_node: 2 | ros__parameters: 3 | use_sim_time: False 4 | link_name: base_link 5 | robot: r100 6 | linear_scale: 1.0 7 | max_positive_linear_velocity: 1.0 8 | max_negative_linear_velocity: -1.0 9 | -------------------------------------------------------------------------------- /clearpath_control/config/twist_mux.yaml: -------------------------------------------------------------------------------- 1 | twist_mux: 2 | ros__parameters: 3 | use_stamped: true 4 | topics: 5 | joy: 6 | topic: joy_teleop/cmd_vel 7 | timeout: 0.5 8 | priority: 10 9 | interactive_marker: 10 | topic: twist_marker_server/cmd_vel 11 | timeout: 0.5 12 | priority: 8 13 | rc: 14 | topic: rc_teleop/cmd_vel 15 | timeout: 0.5 16 | priority: 12 17 | external: 18 | topic: cmd_vel 19 | timeout: 0.5 20 | priority: 1 21 | locks: 22 | e_stop: 23 | topic: platform/emergency_stop 24 | timeout: 0.0 25 | priority: 255 26 | safety_stop: 27 | topic: platform/safety_stop 28 | timeout: 0.0 29 | priority: 254 30 | -------------------------------------------------------------------------------- /clearpath_control/config/w200/control.yaml: -------------------------------------------------------------------------------- 1 | controller_manager: 2 | ros__parameters: 3 | update_rate: 50 # Hz 4 | use_sim_time: False 5 | 6 | joint_state_broadcaster.type: joint_state_broadcaster/JointStateBroadcaster 7 | 8 | platform_velocity_controller.type: diff_drive_controller/DiffDriveController 9 | 10 | platform_velocity_controller: 11 | ros__parameters: 12 | use_sim_time: False 13 | left_wheel_names: [ "front_left_wheel_joint", "rear_left_wheel_joint" ] 14 | right_wheel_names: [ "front_right_wheel_joint", "rear_right_wheel_joint" ] 15 | 16 | wheel_separation: 1.5 17 | wheels_per_side: 1 # actually 2, but both are controlled by 1 signal 18 | wheel_radius: 0.3 19 | 20 | wheel_separation_multiplier: 1.125 21 | left_wheel_radius_multiplier: 1.0 22 | right_wheel_radius_multiplier: 1.0 23 | 24 | publish_rate: 50.0 25 | odom_frame_id: odom 26 | base_frame_id: base_link 27 | pose_covariance_diagonal : [0.001, 0.001, 0.001, 0.001, 0.001, 0.01] 28 | twist_covariance_diagonal: [0.001, 0.001, 0.001, 0.001, 0.001, 0.01] 29 | 30 | open_loop: false 31 | enable_odom_tf: false 32 | tf_frame_prefix_enable: false 33 | 34 | cmd_vel_timeout: 0.25 35 | use_stamped_vel: true 36 | #velocity_rolling_window_size: 10 37 | 38 | # Preserve turning radius when limiting speed/acceleration/jerk 39 | preserve_turning_radius: true 40 | 41 | # W200 motor controllers only report velocity 42 | # position_feedback: false 43 | 44 | # Publish limited velocity 45 | publish_limited_velocity: true 46 | 47 | # Publish wheel data 48 | publish_wheel_data: true 49 | 50 | # Velocity and acceleration limits 51 | # Whenever a min_* is unspecified, default to -max_* 52 | linear.x.max_velocity: 5.0 53 | linear.x.min_velocity: -5.0 54 | linear.x.max_acceleration: 50.0 55 | linear.x.max_deceleration: -50.0 56 | linear.x.max_jerk: .NAN 57 | linear.x.min_jerk: .NAN 58 | 59 | angular.z.max_velocity: 4.0 60 | angular.z.min_velocity: -4.0 61 | angular.z.max_acceleration: 40.0 62 | angular.z.max_deceleration: -40.0 63 | angular.z.max_jerk: .NAN 64 | angular.z.min_jerk: .NAN 65 | -------------------------------------------------------------------------------- /clearpath_control/config/w200/localization.yaml: -------------------------------------------------------------------------------- 1 | ekf_node: 2 | ros__parameters: 3 | odom_frame: odom 4 | base_link_frame: base_link 5 | world_frame: odom 6 | publish_tf: true 7 | two_d_mode: true 8 | use_sim_time: false 9 | print_diagnostics: true 10 | 11 | frequency: 50.0 12 | 13 | odom0: platform/odom 14 | odom0_config: [true, true, false, 15 | false, false, true, 16 | true, true, false, 17 | false, false, true, 18 | false, false, false] 19 | odom0_differential: false 20 | odom0_queue_size: 10 21 | -------------------------------------------------------------------------------- /clearpath_control/config/w200/teleop_interactive_markers.yaml: -------------------------------------------------------------------------------- 1 | twist_server_node: 2 | ros__parameters: 3 | use_sim_time: False 4 | link_name: base_link 5 | robot: w200 6 | linear_scale: 1.0 7 | max_positive_linear_velocity: 1.0 8 | max_negative_linear_velocity: -1.0 -------------------------------------------------------------------------------- /clearpath_control/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | clearpath_control 5 | 2.5.0 6 | Controllers for Clearpath Robotics platforms 7 | 8 | BSD 9 | 10 | Mike Purvis 11 | Paul Bovbel 12 | Tony Baltovski 13 | Roni Kreinin 14 | 15 | Luis Camero 16 | Roni Kreinin 17 | Tony Baltovski 18 | 19 | ament_cmake 20 | 21 | clearpath_bt_joy 22 | mecanum_drive_controller 23 | controller_manager 24 | diff_drive_controller 25 | imu_filter_madgwick 26 | interactive_marker_twist_server 27 | joint_state_broadcaster 28 | joint_trajectory_controller 29 | joy_linux 30 | robot_localization 31 | robot_state_publisher 32 | teleop_twist_joy 33 | twist_mux 34 | 35 | 36 | ament_cmake 37 | 38 | 39 | -------------------------------------------------------------------------------- /clearpath_customization/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 3.8) 2 | project(clearpath_customization) 3 | 4 | if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") 5 | add_compile_options(-Wall -Wextra -Wpedantic) 6 | endif() 7 | 8 | find_package(ament_cmake REQUIRED) 9 | 10 | install(PROGRAMS 11 | scripts/generate_bringup 12 | scripts/generate_description 13 | DESTINATION lib/${PROJECT_NAME} 14 | ) 15 | 16 | install(DIRECTORY 17 | project_bringup 18 | project_description 19 | DESTINATION share/${PROJECT_NAME} 20 | ) 21 | 22 | if(BUILD_TESTING) 23 | find_package(ament_lint_auto REQUIRED) 24 | set(ament_cmake_copyright_FOUND TRUE) 25 | set(ament_cmake_cpplint_FOUND TRUE) 26 | ament_lint_auto_find_test_dependencies() 27 | endif() 28 | 29 | ament_package() 30 | -------------------------------------------------------------------------------- /clearpath_customization/LICENSE: -------------------------------------------------------------------------------- 1 | Redistribution and use in source and binary forms, with or without 2 | modification, are permitted provided that the following conditions are met: 3 | 4 | * Redistributions of source code must retain the above copyright 5 | notice, this list of conditions and the following disclaimer. 6 | 7 | * Redistributions in binary form must reproduce the above copyright 8 | notice, this list of conditions and the following disclaimer in the 9 | documentation and/or other materials provided with the distribution. 10 | 11 | * Neither the name of the copyright holder nor the names of its 12 | contributors may be used to endorse or promote products derived from 13 | this software without specific prior written permission. 14 | 15 | THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 16 | AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 17 | IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 18 | ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE 19 | LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 20 | CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 21 | SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 22 | INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 23 | CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 24 | ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 25 | POSSIBILITY OF SUCH DAMAGE. 26 | -------------------------------------------------------------------------------- /clearpath_customization/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | clearpath_customization 5 | 2.5.0 6 | Clearpath customization packages. 7 | 8 | Luis Camero 9 | 10 | BSD 11 | 12 | ament_cmake 13 | 14 | ament_lint_auto 15 | ament_lint_common 16 | 17 | 18 | ament_cmake 19 | 20 | 21 | -------------------------------------------------------------------------------- /clearpath_customization/project_bringup/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 3.8) 2 | project(project_bringup) 3 | 4 | if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") 5 | add_compile_options(-Wall -Wextra -Wpedantic) 6 | endif() 7 | 8 | find_package(ament_cmake REQUIRED) 9 | install(DIRECTORY config launch 10 | DESTINATION share/${PROJECT_NAME} 11 | ) 12 | 13 | if(BUILD_TESTING) 14 | find_package(ament_lint_auto REQUIRED) 15 | set(ament_cmake_copyright_FOUND TRUE) 16 | set(ament_cmake_cpplint_FOUND TRUE) 17 | ament_lint_auto_find_test_dependencies() 18 | endif() 19 | 20 | ament_package() 21 | -------------------------------------------------------------------------------- /clearpath_customization/project_bringup/LICENSE: -------------------------------------------------------------------------------- 1 | Redistribution and use in source and binary forms, with or without 2 | modification, are permitted provided that the following conditions are met: 3 | 4 | * Redistributions of source code must retain the above copyright 5 | notice, this list of conditions and the following disclaimer. 6 | 7 | * Redistributions in binary form must reproduce the above copyright 8 | notice, this list of conditions and the following disclaimer in the 9 | documentation and/or other materials provided with the distribution. 10 | 11 | * Neither the name of the copyright holder nor the names of its 12 | contributors may be used to endorse or promote products derived from 13 | this software without specific prior written permission. 14 | 15 | THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 16 | AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 17 | IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 18 | ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE 19 | LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 20 | CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 21 | SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 22 | INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 23 | CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 24 | ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 25 | POSSIBILITY OF SUCH DAMAGE. 26 | -------------------------------------------------------------------------------- /clearpath_customization/project_bringup/config/device.yaml: -------------------------------------------------------------------------------- 1 | /**/device: 2 | ros__parameters: 3 | serial_no: "0" 4 | pointcloud.enable: true 5 | -------------------------------------------------------------------------------- /clearpath_customization/project_bringup/launch/device.launch.py: -------------------------------------------------------------------------------- 1 | from clearpath_config.clearpath_config import ClearpathConfig 2 | from launch import LaunchDescription 3 | from launch.substitutions import PathJoinSubstitution 4 | from launch_ros.actions import Node 5 | from launch_ros.substitutions import FindPackageShare 6 | 7 | 8 | def generate_launch_description(): 9 | # Node Name, Package and Executable 10 | name = 'device' 11 | package = 'realsense2_camera' 12 | executable = 'realsense2_camera_node' 13 | 14 | # Namespace from Clearpath Config 15 | namespace = ClearpathConfig('/etc/clearpath/robot.yaml').system.namespace 16 | extra_namespace = '/extras/device/' 17 | 18 | # Project Directory 19 | pkg_project_bringup = FindPackageShare('project_bringup') 20 | 21 | # Parameter File 22 | device_params = PathJoinSubstitution([pkg_project_bringup, 'config', 'device.yaml']) 23 | 24 | # Node 25 | device_node = Node( 26 | name=name, 27 | namespace=namespace + extra_namespace, 28 | package=package, 29 | executable=executable, 30 | parameters=[device_params], 31 | output='screen', 32 | ) 33 | 34 | # Launch Description 35 | ld = LaunchDescription() 36 | ld.add_action(device_node) 37 | return ld 38 | -------------------------------------------------------------------------------- /clearpath_customization/project_bringup/launch/project_bringup.launch.py: -------------------------------------------------------------------------------- 1 | from launch import LaunchDescription 2 | from launch.actions import IncludeLaunchDescription 3 | from launch.launch_description_sources import PythonLaunchDescriptionSource 4 | from launch.substitutions import PathJoinSubstitution 5 | from launch_ros.substitutions import FindPackageShare 6 | 7 | 8 | def generate_launch_description(): 9 | # Package Directory 10 | pkg_project_bringup = FindPackageShare('project_bringup') 11 | 12 | # Launch File 13 | device_launch = PathJoinSubstitution([pkg_project_bringup, 'launch', 'device.launch.py']) 14 | 15 | # Include Launch 16 | include_launch = IncludeLaunchDescription(PythonLaunchDescriptionSource([device_launch])) 17 | 18 | # Launch Description 19 | ld = LaunchDescription() 20 | ld.add_action(include_launch) 21 | return ld 22 | -------------------------------------------------------------------------------- /clearpath_customization/project_bringup/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | project_bringup 5 | 0.0.0 6 | Customization project bringup package 7 | Luis Camero 8 | BSD-3-Clause 9 | 10 | ament_cmake 11 | 12 | ament_lint_auto 13 | ament_lint_common 14 | 15 | clearpath_config 16 | 17 | 18 | ament_cmake 19 | 20 | 21 | -------------------------------------------------------------------------------- /clearpath_customization/project_description/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 3.8) 2 | project(project_description) 3 | 4 | if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") 5 | add_compile_options(-Wall -Wextra -Wpedantic) 6 | endif() 7 | 8 | find_package(ament_cmake REQUIRED) 9 | install(DIRECTORY meshes urdf 10 | DESTINATION share/${PROJECT_NAME} 11 | ) 12 | 13 | if(BUILD_TESTING) 14 | find_package(ament_lint_auto REQUIRED) 15 | set(ament_cmake_copyright_FOUND TRUE) 16 | set(ament_cmake_cpplint_FOUND TRUE) 17 | ament_lint_auto_find_test_dependencies() 18 | endif() 19 | 20 | ament_package() 21 | -------------------------------------------------------------------------------- /clearpath_customization/project_description/LICENSE: -------------------------------------------------------------------------------- 1 | Redistribution and use in source and binary forms, with or without 2 | modification, are permitted provided that the following conditions are met: 3 | 4 | * Redistributions of source code must retain the above copyright 5 | notice, this list of conditions and the following disclaimer. 6 | 7 | * Redistributions in binary form must reproduce the above copyright 8 | notice, this list of conditions and the following disclaimer in the 9 | documentation and/or other materials provided with the distribution. 10 | 11 | * Neither the name of the copyright holder nor the names of its 12 | contributors may be used to endorse or promote products derived from 13 | this software without specific prior written permission. 14 | 15 | THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 16 | AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 17 | IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 18 | ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE 19 | LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 20 | CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 21 | SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 22 | INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 23 | CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 24 | ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 25 | POSSIBILITY OF SUCH DAMAGE. 26 | -------------------------------------------------------------------------------- /clearpath_customization/project_description/meshes/donut.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/clearpathrobotics/clearpath_common/6d17dba3b8446f3505528ba94d7a6ec58b3973d1/clearpath_customization/project_description/meshes/donut.stl -------------------------------------------------------------------------------- /clearpath_customization/project_description/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | project_description 5 | 0.0.0 6 | Customization project description package 7 | Luis Camero 8 | BSD-3-Clause 9 | 10 | ament_cmake 11 | 12 | ament_lint_auto 13 | ament_lint_common 14 | 15 | 16 | ament_cmake 17 | 18 | 19 | -------------------------------------------------------------------------------- /clearpath_customization/project_description/urdf/donut.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 | 38 | 39 | 40 | 41 | 42 | 43 | -------------------------------------------------------------------------------- /clearpath_customization/project_description/urdf/project_description.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | -------------------------------------------------------------------------------- /clearpath_description/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | 2 | cmake_minimum_required(VERSION 3.5) 3 | project(clearpath_description) 4 | 5 | find_package(ament_cmake REQUIRED) 6 | 7 | ament_package() 8 | -------------------------------------------------------------------------------- /clearpath_description/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | clearpath_description 5 | 2.5.0 6 | Clearpath URDF descriptions metapackage 7 | 8 | Luis Camero 9 | Roni Kreinin 10 | Tony Baltovski 11 | 12 | Luis Camero 13 | Roni Kreinin 14 | Tony Baltovski 15 | 16 | BSD 17 | 18 | ament_cmake 19 | 20 | clearpath_mounts_description 21 | clearpath_platform_description 22 | clearpath_sensors_description 23 | clearpath_manipulators_description 24 | 25 | 26 | ament_cmake 27 | 28 | 29 | -------------------------------------------------------------------------------- /clearpath_diagnostics/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 3.8) 2 | project(clearpath_diagnostics) 3 | 4 | if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") 5 | add_compile_options(-Wall -Wextra -Wpedantic) 6 | endif() 7 | 8 | # find dependencies 9 | find_package(ament_cmake REQUIRED) 10 | find_package(clearpath_platform_msgs REQUIRED) 11 | find_package(diagnostic_updater REQUIRED) 12 | find_package(rclcpp REQUIRED) 13 | find_package(sensor_msgs REQUIRED) 14 | 15 | set(DEPENDENCIES 16 | ament_cmake 17 | clearpath_platform_msgs 18 | diagnostic_updater 19 | rclcpp 20 | sensor_msgs 21 | ) 22 | 23 | add_executable(clearpath_diagnostic_updater 24 | src/clearpath_diagnostic_updater.cpp 25 | ) 26 | target_include_directories(clearpath_diagnostic_updater PUBLIC 27 | $ 28 | $) 29 | target_compile_features(clearpath_diagnostic_updater PUBLIC c_std_99 cxx_std_17) # Require C99 and C++17 30 | 31 | ament_target_dependencies(clearpath_diagnostic_updater ${DEPENDENCIES}) 32 | target_link_libraries(clearpath_diagnostic_updater) 33 | 34 | install(TARGETS clearpath_diagnostic_updater 35 | DESTINATION lib/${PROJECT_NAME}) 36 | 37 | install(DIRECTORY config launch 38 | DESTINATION share/${PROJECT_NAME} 39 | ) 40 | 41 | if(BUILD_TESTING) 42 | find_package(ament_lint_auto REQUIRED) 43 | # the following line skips the linter which checks for copyrights 44 | # comment the line when a copyright and license is added to all source files 45 | set(ament_cmake_copyright_FOUND TRUE) 46 | # the following line skips cpplint (only works in a git repo) 47 | # comment the line when this package is in a git repo and when 48 | # a copyright and license is added to all source files 49 | set(ament_cmake_cpplint_FOUND TRUE) 50 | ament_lint_auto_find_test_dependencies() 51 | endif() 52 | 53 | ament_package() 54 | -------------------------------------------------------------------------------- /clearpath_diagnostics/config/diagnostic_aggregator.yaml: -------------------------------------------------------------------------------- 1 | # Note that this file is the default configuration but some elements are appended or overridden 2 | # in clearpath_generator_common 3 | diagnostic_aggregator: 4 | ros__parameters: 5 | path: Clearpath Diagnostics 6 | platform: 7 | type: diagnostic_aggregator/AnalyzerGroup 8 | path: Platform 9 | analyzers: 10 | power: 11 | type: diagnostic_aggregator/GenericAnalyzer 12 | path: Power 13 | expected: [ 14 | 'clearpath_diagnostic_updater: Battery Management System', 15 | 'clearpath_diagnostic_updater: Power Status' 16 | ] 17 | contains: [ 'Battery', 'Power' ] 18 | stop_status: 19 | type: diagnostic_aggregator/GenericAnalyzer 20 | path: E-stop Status 21 | expected: [ 'clearpath_diagnostic_updater: E-stop Status' ] 22 | contains: [ 'E-stop' ] 23 | lighting: 24 | type: diagnostic_aggregator/GenericAnalyzer 25 | path: Lighting 26 | contains: [ 'Light' ] 27 | drive: 28 | type: diagnostic_aggregator/GenericAnalyzer 29 | path: Drive System 30 | expected: [ 31 | 'controller_manager: Controller Manager Activity', 32 | 'controller_manager: Controllers Activity', 33 | 'controller_manager: Hardware Components Activity', 34 | ] 35 | contains: [ 36 | 'lynx', 37 | 'puma', 38 | 'sevcon', 39 | 'controller_manager', 40 | 'twist_mux', 41 | 'joy_node' 42 | ] 43 | odometry: 44 | type: diagnostic_aggregator/GenericAnalyzer 45 | path: Odometry 46 | contains: [ 'odometry', 'ekf_node' ] 47 | networking: 48 | type: diagnostic_aggregator/GenericAnalyzer 49 | path: Networking 50 | contains: [ 'Wi-Fi' ] 51 | # sensors: 52 | # type: diagnostic_aggregator/AnalyzerGroup 53 | # path: Sensors 54 | # analyzers: # Must be populated with the sensor categories 55 | -------------------------------------------------------------------------------- /clearpath_diagnostics/config/diagnostic_updater.yaml: -------------------------------------------------------------------------------- 1 | clearpath_diagnostic_updater: 2 | ros__parameters: 3 | serial_number: unknown 4 | platform_model: unknown 5 | ros_distro: unknown 6 | latest_apt_firmware_version: unknown 7 | installed_apt_firmware_version: unknown 8 | # topics: # Must be populated with the topics to be monitored -------------------------------------------------------------------------------- /clearpath_diagnostics/config/foxglove_bridge.yaml: -------------------------------------------------------------------------------- 1 | foxglove_bridge: 2 | ros__parameters: 3 | port: 8765 4 | address: 0.0.0.0 5 | tls: false 6 | certfile: '' 7 | keyfile: '' 8 | topic_whitelist: ['.*'] 9 | service_whitelist: ['.*'] 10 | param_whitelist: ['.*'] 11 | client_topic_whitelist: ['.*'] 12 | min_qos_depth: 1 13 | max_qos_depth: 10 14 | num_threads: 0 15 | send_buffer_limit: 10000000 16 | use_sim_time: false 17 | capabilities: 18 | - 'clientPublish' 19 | - 'parameters' 20 | - 'parametersSubscribe' 21 | - 'services' 22 | - 'connectionGraph' 23 | - 'assets' 24 | include_hidden: false 25 | asset_uri_allowlist: ['^package://(?:[-\w%]+/)*[-\w%]+\.(?:dae|fbx|glb|gltf|jpeg|jpg|mtl|obj|png|stl|tif|tiff|urdf|webp|xacro)$'] 26 | ignore_unresponsive_param_nodes: true 27 | -------------------------------------------------------------------------------- /clearpath_diagnostics/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | clearpath_diagnostics 5 | 2.5.0 6 | Clearpath Robot Diagnostics Monitor 7 | 8 | Hilary Luo 9 | BSD 10 | 11 | Roni Kreinin 12 | Hilary Luo 13 | 14 | ament_cmake 15 | 16 | clearpath_platform_msgs 17 | diagnostic_updater 18 | rclcpp 19 | sensor_msgs 20 | 21 | diagnostic_aggregator 22 | ros2launch 23 | 24 | ament_lint_auto 25 | ament_lint_common 26 | 27 | 28 | ament_cmake 29 | 30 | 31 | -------------------------------------------------------------------------------- /clearpath_generator_common/clearpath_generator_common/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/clearpathrobotics/clearpath_common/6d17dba3b8446f3505528ba94d7a6ec58b3973d1/clearpath_generator_common/clearpath_generator_common/__init__.py -------------------------------------------------------------------------------- /clearpath_generator_common/clearpath_generator_common/bash/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/clearpathrobotics/clearpath_common/6d17dba3b8446f3505528ba94d7a6ec58b3973d1/clearpath_generator_common/clearpath_generator_common/bash/__init__.py -------------------------------------------------------------------------------- /clearpath_generator_common/clearpath_generator_common/description/__init__.py: -------------------------------------------------------------------------------- 1 | # Software License Agreement (BSD) 2 | # 3 | # @author Roni Kreinin 4 | # @copyright (c) 2023, Clearpath Robotics, Inc., All rights reserved. 5 | # 6 | # Redistribution and use in source and binary forms, with or without 7 | # modification, are permitted provided that the following conditions are met: 8 | # * Redistributions of source code must retain the above copyright notice, 9 | # this list of conditions and the following disclaimer. 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 | # * Neither the name of Clearpath Robotics nor the names of its contributors 14 | # may be used to endorse or promote products derived from this software 15 | # without specific prior written permission. 16 | # 17 | # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 18 | # AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 19 | # IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 20 | # ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE 21 | # LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 22 | # CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 23 | # SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 24 | # INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 25 | # CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 26 | # ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 27 | # POSSIBILITY OF SUCH DAMAGE. 28 | 29 | # Redistribution and use in source and binary forms, with or without 30 | # modification, is not permitted without the express permission 31 | # of Clearpath Robotics. 32 | -------------------------------------------------------------------------------- /clearpath_generator_common/clearpath_generator_common/launch/__init__.py: -------------------------------------------------------------------------------- 1 | # Software License Agreement (BSD) 2 | # 3 | # @author Roni Kreinin 4 | # @copyright (c) 2023, Clearpath Robotics, Inc., All rights reserved. 5 | # 6 | # Redistribution and use in source and binary forms, with or without 7 | # modification, are permitted provided that the following conditions are met: 8 | # * Redistributions of source code must retain the above copyright notice, 9 | # this list of conditions and the following disclaimer. 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 | # * Neither the name of Clearpath Robotics nor the names of its contributors 14 | # may be used to endorse or promote products derived from this software 15 | # without specific prior written permission. 16 | # 17 | # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 18 | # AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 19 | # IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 20 | # ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE 21 | # LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 22 | # CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 23 | # SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 24 | # INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 25 | # CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 26 | # ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 27 | # POSSIBILITY OF SUCH DAMAGE. 28 | 29 | # Redistribution and use in source and binary forms, with or without 30 | # modification, is not permitted without the express permission 31 | # of Clearpath Robotics. 32 | -------------------------------------------------------------------------------- /clearpath_generator_common/clearpath_generator_common/package/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/clearpathrobotics/clearpath_common/6d17dba3b8446f3505528ba94d7a6ec58b3973d1/clearpath_generator_common/clearpath_generator_common/package/__init__.py -------------------------------------------------------------------------------- /clearpath_generator_common/clearpath_generator_common/param/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/clearpathrobotics/clearpath_common/6d17dba3b8446f3505528ba94d7a6ec58b3973d1/clearpath_generator_common/clearpath_generator_common/param/__init__.py -------------------------------------------------------------------------------- /clearpath_generator_common/clearpath_generator_common/ros.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python3 2 | # Software License Agreement (BSD) 3 | # 4 | # @author Chris Iverach-Brereton 5 | # @copyright (c) 2024, Clearpath Robotics, Inc., All rights reserved. 6 | # 7 | # Redistribution and use in source and binary forms, with or without 8 | # modification, are permitted provided that the following conditions are met: 9 | # * Redistributions of source code must retain the above copyright notice, 10 | # this list of conditions and the following disclaimer. 11 | # * Redistributions in binary form must reproduce the above copyright notice, 12 | # this list of conditions and the following disclaimer in the documentation 13 | # and/or other materials provided with the distribution. 14 | # * Neither the name of Clearpath Robotics nor the names of its contributors 15 | # may be used to endorse or promote products derived from this software 16 | # without specific prior written permission. 17 | # 18 | # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 19 | # AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 20 | # IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 21 | # ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE 22 | # LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 23 | # CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 24 | # SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 25 | # INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 26 | # CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 27 | # ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 28 | # POSSIBILITY OF SUCH DAMAGE. 29 | 30 | import os 31 | 32 | # The active ROS distribution 33 | ROS_DISTRO = os.environ.get('ROS_DISTRO', 'jazzy') 34 | 35 | # Standard installation path for ROS distributions 36 | ROS_DISTRO_PATH = f'/opt/ros/{ROS_DISTRO}/' 37 | -------------------------------------------------------------------------------- /clearpath_generator_common/clearpath_generator_common/semantic_description/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/clearpathrobotics/clearpath_common/6d17dba3b8446f3505528ba94d7a6ec58b3973d1/clearpath_generator_common/clearpath_generator_common/semantic_description/__init__.py -------------------------------------------------------------------------------- /clearpath_generator_common/debian/install: -------------------------------------------------------------------------------- 1 | install_config/sysctl/70-clearpath-standard.conf /usr/lib/sysctl.d -------------------------------------------------------------------------------- /clearpath_generator_common/install_config/sysctl/70-clearpath-standard.conf: -------------------------------------------------------------------------------- 1 | # Clearpath settings to support ROS 2 communication of large data 2 | # Decrease timeout for fragmented packets 3 | net.ipv4.ipfrag_time=3 4 | # Increase buffer to adapt for large incoming fragmented data 5 | net.ipv4.ipfrag_high_thresh=134217728 -------------------------------------------------------------------------------- /clearpath_generator_common/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | clearpath_generator_common 5 | 2.5.0 6 | Clearpath Common Generator 7 | Luis Camero 8 | Roni Kreinin 9 | Tony Baltovski 10 | 11 | BSD 12 | 13 | rkreinin 14 | 15 | ament_cmake 16 | 17 | clearpath_config 18 | clearpath_control 19 | clearpath_description 20 | clearpath_diagnostics 21 | clearpath_manipulators 22 | 23 | ament_lint_auto 24 | ament_lint_common 25 | ament_cmake_pytest 26 | 27 | moveit_setup_srdf_plugins 28 | 29 | 30 | ament_cmake 31 | 32 | 33 | -------------------------------------------------------------------------------- /clearpath_manipulators/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 3.5) 2 | project(clearpath_manipulators) 3 | 4 | find_package(ament_cmake REQUIRED) 5 | install(DIRECTORY config launch 6 | DESTINATION share/${PROJECT_NAME} 7 | ) 8 | 9 | ament_package() 10 | -------------------------------------------------------------------------------- /clearpath_manipulators/config/cartesian_limits.yaml: -------------------------------------------------------------------------------- 1 | cartesian_limits: 2 | max_trans_vel: 1.0 3 | max_trans_acc: 2.25 4 | max_trans_dec: -5.0 5 | max_rot_vel: 1.57 6 | -------------------------------------------------------------------------------- /clearpath_manipulators/config/control.yaml: -------------------------------------------------------------------------------- 1 | controller_manager: 2 | ros__parameters: 3 | update_rate: 1000 # Hz 4 | 5 | joint_state_broadcaster: 6 | type: joint_state_broadcaster/JointStateBroadcaster 7 | -------------------------------------------------------------------------------- /clearpath_manipulators/config/kinematics/arm.yaml: -------------------------------------------------------------------------------- 1 | ${name}: 2 | kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin 3 | kinematics_solver_search_resolution: 0.005 4 | kinematics_solver_timeout: 0.005 5 | kinematics_solver_attempts: 3 6 | -------------------------------------------------------------------------------- /clearpath_manipulators/config/kinematics/gripper.yaml: -------------------------------------------------------------------------------- 1 | ${name}: 2 | kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin 3 | kinematics_solver_search_resolution: 0.005 4 | kinematics_solver_timeout: 0.005 5 | kinematics_solver_attempts: 3 6 | -------------------------------------------------------------------------------- /clearpath_manipulators/config/kinematics/lift.yaml: -------------------------------------------------------------------------------- 1 | ${name}: 2 | kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin 3 | kinematics_solver_search_resolution: 0.005 4 | kinematics_solver_timeout: 0.005 5 | kinematics_solver_attempts: 3 6 | -------------------------------------------------------------------------------- /clearpath_manipulators/config/planning/chomp/planning.yaml: -------------------------------------------------------------------------------- 1 | planning_plugins: 2 | - chomp_interface/CHOMPPlanner 3 | enable_failure_recovery: true 4 | jiggle_fraction: 0.05 5 | request_adapters: 6 | - default_planning_request_adapters/ResolveConstraintFrames 7 | - default_planning_request_adapters/ValidateWorkspaceBounds 8 | - default_planning_request_adapters/CheckStartStateBounds 9 | - default_planning_request_adapters/CheckStartStateCollision 10 | response_adapters: 11 | - default_planning_response_adapters/AddTimeOptimalParameterization 12 | - default_planning_response_adapters/ValidateSolution 13 | - default_planning_response_adapters/DisplayMotionPath 14 | ridge_factor: 0.01 15 | start_state_max_bounds_error: 0.1 16 | path_tolerance: 0.1 17 | resample_dt: 0.1 18 | min_angle_change: 0.001 19 | default_workspace_bounds: 10.0 20 | start_state_max_dt: 0.5 21 | max_sampling_attempts: 100 22 | -------------------------------------------------------------------------------- /clearpath_manipulators/config/planning/ompl/planning.yaml: -------------------------------------------------------------------------------- 1 | planning_plugins: 2 | - ompl_interface/OMPLPlanner 3 | path_tolerance: 0.1 4 | resample_dt: 0.1 5 | min_angle_change: 0.001 6 | default_workspace_bounds: 10.0 7 | start_state_max_bounds_error: 0.1 8 | start_state_max_dt: 0.5 9 | jiggle_fraction: 0.05 10 | max_sampling_attempts: 100 11 | request_adapters: 12 | - default_planning_request_adapters/ResolveConstraintFrames 13 | - default_planning_request_adapters/ValidateWorkspaceBounds 14 | - default_planning_request_adapters/CheckStartStateBounds 15 | - default_planning_request_adapters/CheckStartStateCollision 16 | response_adapters: 17 | - default_planning_response_adapters/AddTimeOptimalParameterization 18 | - default_planning_response_adapters/ValidateSolution 19 | - default_planning_response_adapters/DisplayMotionPath 20 | -------------------------------------------------------------------------------- /clearpath_manipulators/config/planning/pilz/defaults.yaml: -------------------------------------------------------------------------------- 1 | # Limits for the Pilz planner 2 | cartesian_limits: 3 | max_trans_vel: 1.0 4 | max_trans_acc: 2.25 5 | max_trans_dec: -5.0 6 | max_rot_vel: 1.57 7 | -------------------------------------------------------------------------------- /clearpath_manipulators/config/planning/pilz/planning.yaml: -------------------------------------------------------------------------------- 1 | planning_plugins: 2 | - pilz_industrial_motion_planner/CommandPlanner 3 | default_planner_config: PTP 4 | request_adapters: 5 | - default_planning_request_adapters/ResolveConstraintFrames 6 | - default_planning_request_adapters/ValidateWorkspaceBounds 7 | - default_planning_request_adapters/CheckStartStateBounds 8 | - default_planning_request_adapters/CheckStartStateCollision 9 | response_adapters: 10 | - default_planning_response_adapters/ValidateSolution 11 | - default_planning_response_adapters/DisplayMotionPath 12 | capabilities: >- 13 | pilz_industrial_motion_planner/MoveGroupSequenceAction 14 | pilz_industrial_motion_planner/MoveGroupSequenceService 15 | -------------------------------------------------------------------------------- /clearpath_manipulators/config/planning/pipeline.yaml: -------------------------------------------------------------------------------- 1 | planning_pipelines: ['chomp', 'pilz', 'ompl'] 2 | default_planning_pipeline: 'ompl' 3 | -------------------------------------------------------------------------------- /clearpath_manipulators/config/planning_scene.yaml: -------------------------------------------------------------------------------- 1 | publish_planning_scene: True 2 | publish_robot_description: False 3 | publish_robot_description_semantic: True 4 | publish_geometry_updates: True 5 | publish_state_updates: True 6 | publish_transforms_updates: True 7 | -------------------------------------------------------------------------------- /clearpath_manipulators/config/trajectory_execution.yaml: -------------------------------------------------------------------------------- 1 | allow_trajectory_execution: True 2 | moveit_manage_controllers: False 3 | trajectory_execution.allowed_execution_duration_scaling: 1.2 4 | trajectory_execution.allowed_goal_duration_margin: 0.5 5 | trajectory_execution.allowed_start_tolerance: 0.01 6 | -------------------------------------------------------------------------------- /clearpath_manipulators/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | clearpath_manipulators 5 | 2.5.0 6 | MoveIt configuration built around Clearpath Configuration 7 | 8 | Luis Camero 9 | 10 | Luis Camero 11 | 12 | BSD 13 | 14 | ament_cmake 15 | 16 | moveit_planners_chomp 17 | clearpath_manipulators_description 18 | gripper_controllers 19 | moveit_configs_utils 20 | moveit_kinematics 21 | moveit_planners 22 | moveit_ros_move_group 23 | moveit_ros_warehouse 24 | moveit_setup_srdf_plugins 25 | moveit_simple_controller_manager 26 | position_controllers 27 | tf2_ros 28 | xacro 29 | 30 | 31 | ament_cmake 32 | 33 | 34 | -------------------------------------------------------------------------------- /clearpath_manipulators_description/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 3.5) 2 | project(clearpath_manipulators_description) 3 | 4 | find_package(ament_cmake REQUIRED) 5 | install(DIRECTORY urdf config srdf launch meshes 6 | DESTINATION share/${PROJECT_NAME} 7 | ) 8 | 9 | ament_package() 10 | -------------------------------------------------------------------------------- /clearpath_manipulators_description/config/arm/kinova_gen3_6dof/control.yaml: -------------------------------------------------------------------------------- 1 | controller_manager: 2 | ros__parameters: 3 | update_rate: 1000 # Hz 4 | 5 | joint_state_broadcaster: 6 | type: joint_state_broadcaster/JointStateBroadcaster 7 | 8 | ${name}_joint_trajectory_controller: 9 | type: joint_trajectory_controller/JointTrajectoryController 10 | 11 | ${name}_joint_trajectory_controller: 12 | ros__parameters: 13 | joints: 14 | - ${name}_joint_1 15 | - ${name}_joint_2 16 | - ${name}_joint_3 17 | - ${name}_joint_4 18 | - ${name}_joint_5 19 | - ${name}_joint_6 20 | command_interfaces: 21 | - position 22 | - velocity 23 | state_interfaces: 24 | - position 25 | - velocity 26 | state_publish_rate: 100.0 27 | action_monitor_rate: 20.0 28 | allow_partial_joints_goal: false 29 | constraints: 30 | stopped_velocity_tolerance: 0.0 31 | goal_time: 0.0 32 | -------------------------------------------------------------------------------- /clearpath_manipulators_description/config/arm/kinova_gen3_6dof/initial_positions.yaml: -------------------------------------------------------------------------------- 1 | # Default initial positions for robot's ros2_control fake system 2 | 3 | initial_positions: 4 | ${name}_joint_1: 0 5 | ${name}_joint_2: 0 6 | ${name}_joint_3: 0 7 | ${name}_joint_4: 0 8 | ${name}_joint_5: 0 9 | ${name}_joint_6: 0 10 | -------------------------------------------------------------------------------- /clearpath_manipulators_description/config/arm/kinova_gen3_6dof/joint_limits.yaml: -------------------------------------------------------------------------------- 1 | # joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed 2 | 3 | # For beginners, we downscale velocity and acceleration limits. 4 | # You can always specify higher scaling factors (<= 1.0) in your motion requests. # Increase the values below to 1.0 to always move at maximum speed. 5 | default_velocity_scaling_factor: 0.5 6 | default_acceleration_scaling_factor: 0.5 7 | 8 | # Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration] 9 | # Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits] 10 | joint_limits: 11 | ${name}_joint_1: 12 | has_velocity_limits: true 13 | max_velocity: 0.8727 14 | has_acceleration_limits: true 15 | max_acceleration: 1.0 16 | ${name}_joint_2: 17 | has_velocity_limits: true 18 | max_velocity: 0.8727 19 | has_acceleration_limits: true 20 | max_acceleration: 1.0 21 | ${name}_joint_3: 22 | has_velocity_limits: true 23 | max_velocity: 0.8727 24 | has_acceleration_limits: true 25 | max_acceleration: 1.0 26 | ${name}_joint_4: 27 | has_velocity_limits: true 28 | max_velocity: 0.8727 29 | has_acceleration_limits: true 30 | max_acceleration: 10.0 31 | ${name}_joint_5: 32 | has_velocity_limits: true 33 | max_velocity: 0.8727 34 | has_acceleration_limits: true 35 | max_acceleration: 10.0 36 | ${name}_joint_6: 37 | has_velocity_limits: true 38 | max_velocity: 0.8727 39 | has_acceleration_limits: true 40 | max_acceleration: 10.0 41 | -------------------------------------------------------------------------------- /clearpath_manipulators_description/config/arm/kinova_gen3_6dof/moveit_controllers.yaml: -------------------------------------------------------------------------------- 1 | # MoveIt uses this configuration for controller management 2 | 3 | moveit_controller_manager: moveit_simple_controller_manager/MoveItSimpleControllerManager 4 | 5 | moveit_simple_controller_manager: 6 | controller_names: 7 | - ${controller_name}_joint_trajectory_controller 8 | 9 | ${controller_name}_joint_trajectory_controller: 10 | type: FollowJointTrajectory 11 | action_ns: follow_joint_trajectory 12 | default: true 13 | joints: 14 | - ${name}_joint_1 15 | - ${name}_joint_2 16 | - ${name}_joint_3 17 | - ${name}_joint_4 18 | - ${name}_joint_5 19 | - ${name}_joint_6 20 | -------------------------------------------------------------------------------- /clearpath_manipulators_description/config/arm/kinova_gen3_7dof/control.yaml: -------------------------------------------------------------------------------- 1 | controller_manager: 2 | ros__parameters: 3 | update_rate: 1000 # Hz 4 | 5 | joint_state_broadcaster: 6 | type: joint_state_broadcaster/JointStateBroadcaster 7 | 8 | ${name}_joint_trajectory_controller: 9 | type: joint_trajectory_controller/JointTrajectoryController 10 | 11 | ${name}_joint_trajectory_controller: 12 | ros__parameters: 13 | joints: 14 | - ${name}_joint_1 15 | - ${name}_joint_2 16 | - ${name}_joint_3 17 | - ${name}_joint_4 18 | - ${name}_joint_5 19 | - ${name}_joint_6 20 | - ${name}_joint_7 21 | command_interfaces: 22 | - position 23 | - velocity 24 | state_interfaces: 25 | - position 26 | - velocity 27 | state_publish_rate: 100.0 28 | action_monitor_rate: 20.0 29 | allow_partial_joints_goal: false 30 | constraints: 31 | stopped_velocity_tolerance: 0.0 32 | goal_time: 0.0 33 | -------------------------------------------------------------------------------- /clearpath_manipulators_description/config/arm/kinova_gen3_7dof/initial_positions.yaml: -------------------------------------------------------------------------------- 1 | # Default initial positions for robot's ros2_control fake system 2 | 3 | initial_positions: 4 | ${name}_joint_1: 0 5 | ${name}_joint_2: 0 6 | ${name}_joint_3: 0 7 | ${name}_joint_4: 0 8 | ${name}_joint_5: 0 9 | ${name}_joint_6: 0 10 | ${name}_joint_7: 0 11 | -------------------------------------------------------------------------------- /clearpath_manipulators_description/config/arm/kinova_gen3_7dof/joint_limits.yaml: -------------------------------------------------------------------------------- 1 | # joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed 2 | 3 | # For beginners, we downscale velocity and acceleration limits. 4 | # You can always specify higher scaling factors (<= 1.0) in your motion requests. # Increase the values below to 1.0 to always move at maximum speed. 5 | default_velocity_scaling_factor: 0.5 6 | default_acceleration_scaling_factor: 0.5 7 | 8 | # Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration] 9 | # Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits] 10 | joint_limits: 11 | ${name}_joint_1: 12 | has_velocity_limits: true 13 | max_velocity: 0.8727 14 | has_acceleration_limits: true 15 | max_acceleration: 1.0 16 | ${name}_joint_2: 17 | has_velocity_limits: true 18 | max_velocity: 0.8727 19 | has_acceleration_limits: true 20 | max_acceleration: 1.0 21 | ${name}_joint_3: 22 | has_velocity_limits: true 23 | max_velocity: 0.8727 24 | has_acceleration_limits: true 25 | max_acceleration: 1.0 26 | ${name}_joint_4: 27 | has_velocity_limits: true 28 | max_velocity: 0.8727 29 | has_acceleration_limits: true 30 | max_acceleration: 1.0 31 | ${name}_joint_5: 32 | has_velocity_limits: true 33 | max_velocity: 0.8727 34 | has_acceleration_limits: true 35 | max_acceleration: 10.0 36 | ${name}_joint_6: 37 | has_velocity_limits: true 38 | max_velocity: 0.8727 39 | has_acceleration_limits: true 40 | max_acceleration: 10.0 41 | ${name}_joint_7: 42 | has_velocity_limits: true 43 | max_velocity: 0.8727 44 | has_acceleration_limits: true 45 | max_acceleration: 10.0 46 | -------------------------------------------------------------------------------- /clearpath_manipulators_description/config/arm/kinova_gen3_7dof/moveit_controllers.yaml: -------------------------------------------------------------------------------- 1 | # MoveIt uses this configuration for controller management 2 | 3 | moveit_controller_manager: moveit_simple_controller_manager/MoveItSimpleControllerManager 4 | 5 | moveit_simple_controller_manager: 6 | controller_names: 7 | - ${controller_name}_joint_trajectory_controller 8 | 9 | ${controller_name}_joint_trajectory_controller: 10 | type: FollowJointTrajectory 11 | action_ns: follow_joint_trajectory 12 | default: true 13 | joints: 14 | - ${name}_joint_1 15 | - ${name}_joint_2 16 | - ${name}_joint_3 17 | - ${name}_joint_4 18 | - ${name}_joint_5 19 | - ${name}_joint_6 20 | - ${name}_joint_7 21 | -------------------------------------------------------------------------------- /clearpath_manipulators_description/config/arm/kinova_gen3_lite/control.yaml: -------------------------------------------------------------------------------- 1 | controller_manager: 2 | ros__parameters: 3 | update_rate: 1000 # Hz 4 | 5 | joint_state_broadcaster: 6 | type: joint_state_broadcaster/JointStateBroadcaster 7 | 8 | ${name}_joint_trajectory_controller: 9 | type: joint_trajectory_controller/JointTrajectoryController 10 | 11 | ${name}_joint_trajectory_controller: 12 | ros__parameters: 13 | joints: 14 | - ${name}_joint_1 15 | - ${name}_joint_2 16 | - ${name}_joint_3 17 | - ${name}_joint_4 18 | - ${name}_joint_5 19 | - ${name}_joint_6 20 | command_interfaces: 21 | - position 22 | state_interfaces: 23 | - position 24 | - velocity 25 | state_publish_rate: 100.0 26 | action_monitor_rate: 20.0 27 | allow_partial_joints_goal: false 28 | constraints: 29 | stopped_velocity_tolerance: 0.0 30 | goal_time: 0.0 31 | -------------------------------------------------------------------------------- /clearpath_manipulators_description/config/arm/kinova_gen3_lite/initial_positions.yaml: -------------------------------------------------------------------------------- 1 | # Default initial positions for robot's ros2_control fake system 2 | 3 | initial_positions: 4 | ${name}_joint_1: 0 5 | ${name}_joint_2: 0 6 | ${name}_joint_3: 0 7 | ${name}_joint_4: 0 8 | ${name}_joint_5: 0 9 | ${name}_joint_6: 0 10 | -------------------------------------------------------------------------------- /clearpath_manipulators_description/config/arm/kinova_gen3_lite/joint_limits.yaml: -------------------------------------------------------------------------------- 1 | # joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed 2 | 3 | # For beginners, we downscale velocity and acceleration limits. 4 | # You can always specify higher scaling factors (<= 1.0) in your motion requests. # Increase the values below to 1.0 to always move at maximum speed. 5 | default_velocity_scaling_factor: 0.5 6 | default_acceleration_scaling_factor: 0.5 7 | 8 | # Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration] 9 | # Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits] 10 | joint_limits: 11 | ${name}_joint_1: 12 | has_velocity_limits: true 13 | max_velocity: 0.5 14 | has_acceleration_limits: true 15 | max_acceleration: 1.0 16 | ${name}_joint_2: 17 | has_velocity_limits: true 18 | max_velocity: 0.5 19 | has_acceleration_limits: true 20 | max_acceleration: 0.5 21 | ${name}_joint_3: 22 | has_velocity_limits: true 23 | max_velocity: 0.5 24 | has_acceleration_limits: true 25 | max_acceleration: 0.4 26 | ${name}_joint_4: 27 | has_velocity_limits: true 28 | max_velocity: 0.5 29 | has_acceleration_limits: true 30 | max_acceleration: 1.0 31 | ${name}_joint_5: 32 | has_velocity_limits: true 33 | max_velocity: 0.5 34 | has_acceleration_limits: true 35 | max_acceleration: 10.0 36 | ${name}_joint_6: 37 | has_velocity_limits: true 38 | max_velocity: 0.5 39 | has_acceleration_limits: true 40 | max_acceleration: 10.0 41 | -------------------------------------------------------------------------------- /clearpath_manipulators_description/config/arm/kinova_gen3_lite/moveit_controllers.yaml: -------------------------------------------------------------------------------- 1 | # MoveIt uses this configuration for controller management 2 | 3 | moveit_controller_manager: moveit_simple_controller_manager/MoveItSimpleControllerManager 4 | 5 | moveit_simple_controller_manager: 6 | controller_names: 7 | - ${controller_name}_joint_trajectory_controller 8 | 9 | ${controller_name}_joint_trajectory_controller: 10 | type: FollowJointTrajectory 11 | action_ns: follow_joint_trajectory 12 | default: true 13 | joints: 14 | - ${name}_joint_1 15 | - ${name}_joint_2 16 | - ${name}_joint_3 17 | - ${name}_joint_4 18 | - ${name}_joint_5 19 | - ${name}_joint_6 20 | -------------------------------------------------------------------------------- /clearpath_manipulators_description/config/arm/universal_robots/control.yaml: -------------------------------------------------------------------------------- 1 | controller_manager: 2 | ros__parameters: 3 | update_rate: 1000 # Hz 4 | 5 | joint_state_broadcaster: 6 | type: joint_state_broadcaster/JointStateBroadcaster 7 | 8 | ${name}_joint_trajectory_controller: 9 | type: joint_trajectory_controller/JointTrajectoryController 10 | 11 | ${name}_joint_trajectory_controller: 12 | ros__parameters: 13 | joints: 14 | - ${name}_shoulder_pan_joint 15 | - ${name}_shoulder_lift_joint 16 | - ${name}_elbow_joint 17 | - ${name}_wrist_1_joint 18 | - ${name}_wrist_2_joint 19 | - ${name}_wrist_3_joint 20 | command_interfaces: 21 | - position 22 | state_interfaces: 23 | - position 24 | - velocity 25 | state_publish_rate: 100.0 26 | action_monitor_rate: 20.0 27 | allow_partial_joints_goal: false 28 | constraints: 29 | stopped_velocity_tolerance: 0.0 30 | goal_time: 0.0 31 | -------------------------------------------------------------------------------- /clearpath_manipulators_description/config/arm/universal_robots/initial_positions.yaml: -------------------------------------------------------------------------------- 1 | # Default initial positions for robot's ros2_control fake system 2 | 3 | initial_positions: 4 | ${name}_shoulder_pan_joint: 0.0 5 | ${name}_shoulder_lift_joint: -1.57 6 | ${name}_elbow_joint: 0.0 7 | ${name}_wrist_1_joint: -1.57 8 | ${name}_wrist_2_joint: 0.0 9 | ${name}_wrist_3_joint: 0.0 10 | -------------------------------------------------------------------------------- /clearpath_manipulators_description/config/arm/universal_robots/joint_limits.yaml: -------------------------------------------------------------------------------- 1 | # These limits are used by MoveIt and augment/override the definitions in ur_description. 2 | # 3 | # While the robot does not inherently have any limits on joint accelerations (only on torques), 4 | # MoveIt needs them for time parametrization. They were chosen conservatively to work in most use 5 | # cases. For specific applications, higher values might lead to better execution performance. 6 | 7 | joint_limits: 8 | ${name}_shoulder_pan_joint: 9 | has_acceleration_limits: true 10 | max_acceleration: 5.0 11 | ${name}_shoulder_lift_joint: 12 | has_acceleration_limits: true 13 | max_acceleration: 5.0 14 | ${name}_elbow_joint: 15 | has_acceleration_limits: true 16 | max_acceleration: 5.0 17 | ${name}_wrist_1_joint: 18 | has_acceleration_limits: true 19 | max_acceleration: 5.0 20 | ${name}_wrist_2_joint: 21 | has_acceleration_limits: true 22 | max_acceleration: 5.0 23 | ${name}_wrist_3_joint: 24 | has_acceleration_limits: true 25 | max_acceleration: 5.0 26 | -------------------------------------------------------------------------------- /clearpath_manipulators_description/config/arm/universal_robots/moveit_controllers.yaml: -------------------------------------------------------------------------------- 1 | # MoveIt uses this configuration for controller management 2 | 3 | moveit_controller_manager: moveit_simple_controller_manager/MoveItSimpleControllerManager 4 | 5 | moveit_simple_controller_manager: 6 | controller_names: 7 | - ${controller_name}_joint_trajectory_controller 8 | 9 | ${controller_name}_joint_trajectory_controller: 10 | type: FollowJointTrajectory 11 | action_ns: follow_joint_trajectory 12 | default: true 13 | joints: 14 | - ${name}_shoulder_pan_joint 15 | - ${name}_shoulder_lift_joint 16 | - ${name}_elbow_joint 17 | - ${name}_wrist_1_joint 18 | - ${name}_wrist_2_joint 19 | - ${name}_wrist_3_joint 20 | -------------------------------------------------------------------------------- /clearpath_manipulators_description/config/gripper/kinova_2f_lite/control.yaml: -------------------------------------------------------------------------------- 1 | controller_manager: 2 | ros__parameters: 3 | update_rate: 1000 # Hz 4 | 5 | joint_state_broadcaster: 6 | type: joint_state_broadcaster/JointStateBroadcaster 7 | 8 | ${name}_controller: 9 | type: position_controllers/GripperActionController 10 | 11 | ${name}_controller: 12 | ros__parameters: 13 | default: true 14 | joint: ${name}_right_finger_bottom_joint 15 | allow_stalling: true 16 | -------------------------------------------------------------------------------- /clearpath_manipulators_description/config/gripper/kinova_2f_lite/initial_positions.yaml: -------------------------------------------------------------------------------- 1 | # Default initial positions for robot's ros2_control fake system 2 | 3 | initial_positions: 4 | ${name}_right_finger_bottom_joint: 0.0 5 | -------------------------------------------------------------------------------- /clearpath_manipulators_description/config/gripper/kinova_2f_lite/joint_limits.yaml: -------------------------------------------------------------------------------- 1 | # joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed 2 | 3 | # For beginners, we downscale velocity and acceleration limits. 4 | # You can always specify higher scaling factors (<= 1.0) in your motion requests. # Increase the values below to 1.0 to always move at maximum speed. 5 | default_velocity_scaling_factor: 0.5 6 | default_acceleration_scaling_factor: 0.5 7 | 8 | # Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration] 9 | # Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits] 10 | joint_limits: 11 | ${name}_right_finger_bottom_joint: 12 | has_velocity_limits: true 13 | max_velocity: 0.5 14 | has_acceleration_limits: true 15 | max_acceleration: 1.0 16 | -------------------------------------------------------------------------------- /clearpath_manipulators_description/config/gripper/kinova_2f_lite/moveit_controllers.yaml: -------------------------------------------------------------------------------- 1 | # MoveIt uses this configuration for controller management 2 | 3 | moveit_controller_manager: moveit_simple_controller_manager/MoveItSimpleControllerManager 4 | 5 | moveit_simple_controller_manager: 6 | controller_names: 7 | - ${controller_name}_controller 8 | 9 | ${controller_name}_controller: 10 | type: GripperCommand 11 | joints: 12 | - ${name}_right_finger_bottom_joint 13 | action_ns: gripper_cmd 14 | default: true 15 | -------------------------------------------------------------------------------- /clearpath_manipulators_description/config/gripper/robotiq_2f_140/control.yaml: -------------------------------------------------------------------------------- 1 | controller_manager: 2 | ros__parameters: 3 | update_rate: 1000 # Hz 4 | 5 | joint_state_broadcaster: 6 | type: joint_state_broadcaster/JointStateBroadcaster 7 | 8 | ${name}_controller: 9 | type: position_controllers/GripperActionController 10 | 11 | ${name}_controller: 12 | ros__parameters: 13 | default: true 14 | joint: ${name}_finger_joint 15 | use_effort_interface: true 16 | use_speed_interface: true 17 | -------------------------------------------------------------------------------- /clearpath_manipulators_description/config/gripper/robotiq_2f_140/initial_positions.yaml: -------------------------------------------------------------------------------- 1 | # Default initial positions for robot's ros2_control fake system 2 | 3 | initial_positions: 4 | ${name}_finger_joint: 0.0 5 | -------------------------------------------------------------------------------- /clearpath_manipulators_description/config/gripper/robotiq_2f_140/joint_limits.yaml: -------------------------------------------------------------------------------- 1 | # joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed 2 | 3 | # For beginners, we downscale velocity and acceleration limits. 4 | # You can always specify higher scaling factors (<= 1.0) in your motion requests. # Increase the values below to 1.0 to always move at maximum speed. 5 | default_velocity_scaling_factor: 0.5 6 | default_acceleration_scaling_factor: 0.5 7 | 8 | # Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration] 9 | # Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits] 10 | joint_limits: 11 | ${name}_finger_joint: 12 | has_velocity_limits: true 13 | max_velocity: 0.5 14 | has_acceleration_limits: true 15 | max_acceleration: 1.0 16 | -------------------------------------------------------------------------------- /clearpath_manipulators_description/config/gripper/robotiq_2f_140/moveit_controllers.yaml: -------------------------------------------------------------------------------- 1 | # MoveIt uses this configuration for controller management 2 | 3 | moveit_controller_manager: moveit_simple_controller_manager/MoveItSimpleControllerManager 4 | 5 | moveit_simple_controller_manager: 6 | controller_names: 7 | - ${controller_name}_controller 8 | 9 | ${controller_name}_controller: 10 | type: GripperCommand 11 | joints: 12 | - ${name}_finger_joint 13 | action_ns: gripper_cmd 14 | default: true 15 | -------------------------------------------------------------------------------- /clearpath_manipulators_description/config/gripper/robotiq_2f_85/control.yaml: -------------------------------------------------------------------------------- 1 | controller_manager: 2 | ros__parameters: 3 | update_rate: 1000 # Hz 4 | 5 | joint_state_broadcaster: 6 | type: joint_state_broadcaster/JointStateBroadcaster 7 | 8 | ${name}_controller: 9 | type: position_controllers/GripperActionController 10 | 11 | ${name}_controller: 12 | ros__parameters: 13 | default: true 14 | joint: ${name}_robotiq_85_left_knuckle_joint 15 | use_effort_interface: true 16 | use_speed_interface: true 17 | -------------------------------------------------------------------------------- /clearpath_manipulators_description/config/gripper/robotiq_2f_85/initial_positions.yaml: -------------------------------------------------------------------------------- 1 | # Default initial positions for robot's ros2_control fake system 2 | 3 | initial_positions: 4 | ${name}_robotiq_85_left_knuckle_joint: 0.0 5 | -------------------------------------------------------------------------------- /clearpath_manipulators_description/config/gripper/robotiq_2f_85/joint_limits.yaml: -------------------------------------------------------------------------------- 1 | # joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed 2 | 3 | # For beginners, we downscale velocity and acceleration limits. 4 | # You can always specify higher scaling factors (<= 1.0) in your motion requests. # Increase the values below to 1.0 to always move at maximum speed. 5 | default_velocity_scaling_factor: 0.5 6 | default_acceleration_scaling_factor: 0.5 7 | 8 | # Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration] 9 | # Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits] 10 | joint_limits: 11 | ${name}_robotiq_85_left_knuckle_joint: 12 | has_velocity_limits: true 13 | max_velocity: 0.5 14 | has_acceleration_limits: true 15 | max_acceleration: 1.0 16 | -------------------------------------------------------------------------------- /clearpath_manipulators_description/config/gripper/robotiq_2f_85/moveit_controllers.yaml: -------------------------------------------------------------------------------- 1 | # MoveIt uses this configuration for controller management 2 | 3 | moveit_controller_manager: moveit_simple_controller_manager/MoveItSimpleControllerManager 4 | 5 | moveit_simple_controller_manager: 6 | controller_names: 7 | - ${controller_name}_controller 8 | 9 | ${controller_name}_controller: 10 | type: GripperCommand 11 | joints: 12 | - ${name}_robotiq_85_left_knuckle_joint 13 | action_ns: gripper_cmd 14 | default: true 15 | -------------------------------------------------------------------------------- /clearpath_manipulators_description/config/lift/ewellix/control.yaml: -------------------------------------------------------------------------------- 1 | controller_manager: 2 | ros__parameters: 3 | update_rate: 10 # Hz 4 | 5 | joint_state_broadcaster: 6 | type: joint_state_broadcaster/JointStateBroadcaster 7 | 8 | ${name}_position_controller: 9 | type: position_controllers/JointGroupPositionController 10 | 11 | ${name}_position_controller: 12 | ros__parameters: 13 | joints: 14 | - ${name}_lower_joint 15 | -------------------------------------------------------------------------------- /clearpath_manipulators_description/config/lift/ewellix/control_jpc.yaml: -------------------------------------------------------------------------------- 1 | controller_manager: 2 | ros__parameters: 3 | update_rate: 10 # Hz 4 | 5 | joint_state_broadcaster: 6 | type: joint_state_broadcaster/JointStateBroadcaster 7 | 8 | ${name}_position_controller: 9 | type: position_controllers/JointGroupPositionController 10 | 11 | ${name}_position_controller: 12 | ros__parameters: 13 | joints: 14 | - ${name}_lower_joint 15 | -------------------------------------------------------------------------------- /clearpath_manipulators_description/config/lift/ewellix/control_jtc.yaml: -------------------------------------------------------------------------------- 1 | controller_manager: 2 | ros__parameters: 3 | update_rate: 10 # Hz 4 | 5 | joint_state_broadcaster: 6 | type: joint_state_broadcaster/JointStateBroadcaster 7 | 8 | ${name}_joint_trajectory_controller: 9 | type: joint_trajectory_controller/JointTrajectoryController 10 | 11 | ${name}_joint_trajectory_controller: 12 | ros__parameters: 13 | joints: 14 | - ${name}_lower_joint 15 | command_interfaces: 16 | - position 17 | state_interfaces: 18 | - position 19 | - velocity 20 | state_publish_rate: 10.0 21 | action_monitor_rate: 10.0 22 | allow_partial_joints_goal: false 23 | constraints: 24 | stopped_velocity_tolerance: 0.0 25 | goal_time: 0.0 26 | -------------------------------------------------------------------------------- /clearpath_manipulators_description/config/lift/ewellix/initial_positions.yaml: -------------------------------------------------------------------------------- 1 | initial_positions: 2 | ${name}_upper_joint: 0.0 3 | ${name}_lower_joint: 0.0 4 | -------------------------------------------------------------------------------- /clearpath_manipulators_description/config/lift/ewellix/joint_limits.yaml: -------------------------------------------------------------------------------- 1 | default_velocity_scaling_factor: 0.5 2 | default_acceleration_scaling_factor: 0.5 3 | 4 | joint_limits: 5 | ${name}_upper_joint: 6 | has_acceleration_limits: true 7 | max_acceleration: 1.0 8 | ${name}_lower_joint: 9 | has_acceleration_limits: true 10 | max_acceleration: 1.0 11 | -------------------------------------------------------------------------------- /clearpath_manipulators_description/config/lift/ewellix/moveit_controllers.yaml: -------------------------------------------------------------------------------- 1 | moveit_controller_manager: moveit_simple_controller_manager/MoveItSimpleControllerManager 2 | 3 | moveit_simple_controller_manager: 4 | controller_names: 5 | - ${controller_name}_joint_trajectory_controller 6 | 7 | ${controller_name}_joint_trajectory_controller: 8 | type: FollowJointTrajectory 9 | action_ns: follow_joint_trajectory 10 | default: true 11 | joints: 12 | - ${name}_lower_joint 13 | -------------------------------------------------------------------------------- /clearpath_manipulators_description/config/lift/ewellix/moveit_controllers_jpc.yaml: -------------------------------------------------------------------------------- 1 | moveit_controller_manager: moveit_simple_controller_manager/MoveItSimpleControllerManager 2 | 3 | moveit_simple_controller_manager: 4 | controller_names: 5 | - ${controller_name}_position_controller 6 | 7 | ${controller_name}_position_controller: 8 | type: JointGroupPositionController 9 | action_ns: position_controllers 10 | default: true 11 | joints: 12 | - ${name}_lower_joint 13 | -------------------------------------------------------------------------------- /clearpath_manipulators_description/config/lift/ewellix/moveit_controllers_jtc.yaml: -------------------------------------------------------------------------------- 1 | moveit_controller_manager: moveit_simple_controller_manager/MoveItSimpleControllerManager 2 | 3 | moveit_simple_controller_manager: 4 | controller_names: 5 | - ${controller_name}_joint_trajectory_controller 6 | 7 | ${controller_name}_joint_trajectory_controller: 8 | type: FollowJointTrajectory 9 | action_ns: follow_joint_trajectory 10 | default: true 11 | joints: 12 | - ${name}_lower_joint 13 | 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Kreinin 10 | Tony Baltovski 11 | 12 | Luis Camero 13 | Roni Kreinin 14 | Tony Baltovski 15 | 16 | BSD 17 | 18 | robot_state_publisher 19 | urdf 20 | xacro 21 | 22 | robotiq_description 23 | ur_description 24 | 25 | ament_cmake 26 | 27 | 28 | ament_cmake 29 | 30 | 31 | -------------------------------------------------------------------------------- /clearpath_manipulators_description/srdf/arm/kinova_gen3_6dof.srdf.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 | 30 | 31 | 36 | 37 | 38 | 39 | -------------------------------------------------------------------------------- /clearpath_manipulators_description/srdf/arm/kinova_gen3_7dof.srdf.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 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/clearpath_platform_description/urdf/a200/wheels/wheel.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 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | -------------------------------------------------------------------------------- /clearpath_platform_description/urdf/a300/attachments/bumper.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 | -------------------------------------------------------------------------------- /clearpath_platform_description/urdf/a300/wheels/wheel.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 14 | 15 | 16 | 17 | 18 | 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/tf:=tf 11 | /tf_static:=tf_static 12 | /diagnostics:=diagnostics 13 | /dynamic_joint_states:=platform/dynamic_joint_states 14 | joint_states:=platform/joint_states 15 | ~/reference:=platform/cmd_vel 16 | ~/odometry:=platform/odom 17 | $(arg namespace) 18 | 19 | 20 | 21 | 22 | 23 | 24 | true 25 | true 26 | true 27 | 50 28 | 29 | 30 | 31 | 32 | -------------------------------------------------------------------------------- /clearpath_platform_description/urdf/j100/attachments/fender.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 | -------------------------------------------------------------------------------- /clearpath_platform_description/urdf/j100/attachments/top_plate.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 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/clearpath_platform_description/urdf/links/cylinder.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 | -------------------------------------------------------------------------------- /clearpath_platform_description/urdf/links/frame.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | -------------------------------------------------------------------------------- /clearpath_platform_description/urdf/links/mesh.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 | -------------------------------------------------------------------------------- /clearpath_platform_description/urdf/links/sphere.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 | -------------------------------------------------------------------------------- /clearpath_platform_description/urdf/r100/attachments/legs.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | -------------------------------------------------------------------------------- /clearpath_platform_description/urdf/r100/rocker.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | -------------------------------------------------------------------------------- /clearpath_platform_description/urdf/r100/wheels/wheel.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 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 1.0 36 | 0.0 37 | 1 ${side} 0 38 | 39 | 40 | 41 | 42 | 43 | 44 | 45 | 46 | 47 | 48 | 49 | 50 | 51 | 52 | 53 | -------------------------------------------------------------------------------- /clearpath_platform_description/urdf/w200/attachments/arm_plate.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 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 | -------------------------------------------------------------------------------- /clearpath_platform_description/urdf/w200/attachments/bulkhead.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 | 38 | 39 | 40 | 41 | 42 | 43 | 44 | 45 | 46 | -------------------------------------------------------------------------------- /clearpath_platform_description/urdf/w200/attachments/generator.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 | -------------------------------------------------------------------------------- /clearpath_platform_description/urdf/w200/wheels/wheel.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 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 | false 40 | 0.5 41 | 0.5 42 | 43 | Gazebo/DarkGrey 44 | 45 | 46 | 47 | 48 | -------------------------------------------------------------------------------- /clearpath_sensors_description/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 3.5) 2 | project(clearpath_sensors_description) 3 | 4 | find_package(ament_cmake REQUIRED) 5 | install(DIRECTORY meshes urdf 6 | DESTINATION share/${PROJECT_NAME} 7 | ) 8 | 9 | ament_package() 10 | -------------------------------------------------------------------------------- /clearpath_sensors_description/meshes/axis_dome.stl: 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17 | 18 | ament_cmake 19 | 20 | axis_description 21 | microstrain_inertial_description 22 | realsense2_description 23 | velodyne_description 24 | 25 | 26 | ament_cmake 27 | 28 | 29 | -------------------------------------------------------------------------------- /clearpath_sensors_description/urdf/axis_camera.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 11 | 12 | 13 | 17 | 18 | 19 | 20 | 21 | 22 | 26 | 27 | 28 | 29 | 30 | 31 | 35 | 36 | 37 | 38 | 39 | 40 | -------------------------------------------------------------------------------- /clearpath_sensors_description/urdf/chrobotics_um6.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 | true 30 | ${update_rate} 31 | true 32 | ${name}_link 33 | $(arg namespace)/sensors/${name}/data 34 | 35 | 36 | 37 | 38 | -------------------------------------------------------------------------------- /clearpath_sensors_description/urdf/garmin_18x.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 | 1 27 | 1 28 | ${name}_link 29 | $(arg namespace)/sensors/${name}/navsat 30 | 31 | 32 | 33 | 34 | -------------------------------------------------------------------------------- /clearpath_sensors_description/urdf/intel/d435i.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | -------------------------------------------------------------------------------- /clearpath_sensors_description/urdf/microstrain_gq7.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 1 13 | 1 14 | ${name}_link 15 | $(arg namespace)/sensors/${name}/navsat 16 | 17 | 18 | 19 | 20 | -------------------------------------------------------------------------------- /clearpath_sensors_description/urdf/microstrain_imu.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 | true 30 | ${update_rate} 31 | true 32 | ${name}_link 33 | $(arg namespace)/sensors/${name}/data 34 | 35 | 36 | 37 | 38 | -------------------------------------------------------------------------------- /clearpath_sensors_description/urdf/novatel_smart6.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 | 1 24 | 1 25 | ${name}_link 26 | $(arg namespace)/sensors/${name}/navsat 27 | 28 | 29 | 30 | 31 | -------------------------------------------------------------------------------- /clearpath_sensors_description/urdf/novatel_smart7.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 | 1 31 | 1 32 | ${name}_link 33 | $(arg namespace)/sensors/${name}/navsat 34 | 35 | 36 | 37 | 38 | -------------------------------------------------------------------------------- /clearpath_sensors_description/urdf/phidgets_spatial.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 | true 28 | ${update_rate} 29 | true 30 | ${name}_link 31 | $(arg namespace)/sensors/${name}/data 32 | 33 | 34 | 35 | 36 | -------------------------------------------------------------------------------- /clearpath_sensors_description/urdf/redshift_um7.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 | true 30 | ${update_rate} 31 | true 32 | ${name}_link 33 | $(arg namespace)/sensors/${name}/data 34 | 35 | 36 | 37 | 38 | -------------------------------------------------------------------------------- /clearpath_sensors_description/urdf/stereolabs_zed.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 18 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 1.25 40 | 41 | ${image_width} 42 | ${image_height} 43 | 44 | 45 | 0.3 46 | 100 47 | 48 | ${name}_link 49 | ${name}_left_camera_optical_frame 50 | 51 | 1 52 | ${update_rate} 53 | true 54 | ${name}_link 55 | $(arg namespace)/sensors/${name} 56 | 57 | 58 | 59 | 60 | -------------------------------------------------------------------------------- /clearpath_sensors_description/urdf/swiftnav_duro.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 1 12 | 1 13 | ${name}_link 14 | $(arg namespace)/sensors/${name}/navsat 15 | 16 | 17 | 18 | 19 | -------------------------------------------------------------------------------- /clearpath_sensors_description/urdf/wiferion.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 | -------------------------------------------------------------------------------- /dependencies.repos: -------------------------------------------------------------------------------- 1 | repositories: 2 | clearpath_config: 3 | type: git 4 | url: https://github.com/clearpathrobotics/clearpath_config.git 5 | version: jazzy 6 | clearpath_msgs: 7 | type: git 8 | url: https://github.com/clearpathrobotics/clearpath_msgs.git 9 | version: jazzy 10 | --------------------------------------------------------------------------------