├── urdf
    ├── shrek.stl
    ├── main.xacro
    ├── head.xacro
    └── arm.xacro
├── src
    └── main.cpp
├── config
    └── joints.yaml
├── CMakeLists.txt
├── package.xml
├── launch
    └── gazebo.launch
└── README.md


/urdf/shrek.stl:
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https://raw.githubusercontent.com/utra-robosoccer/Tutorials-2020/HEAD/urdf/shrek.stl


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/src/main.cpp:
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1 | #include <iostream>
2 | 
3 | int main(int argc, char **argv) {
4 |   std::cout << "Hello World!\n";
5 |   return 0;
6 | }
7 | 


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/config/joints.yaml:
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 1 | joint_state_controller:
 2 |   type: "joint_state_controller/JointStateController"
 3 |   publish_rate: 50
 4 | 
 5 | head_controller:
 6 |   type: "position_controllers/JointPositionController"
 7 |   joint: base_to_head
 8 | 
 9 | right_arm_controller:
10 |   type: "velocity_controllers/JointVelocityController"
11 |   joint: base_to_right_arm
12 | 
13 | left_arm_controller:
14 |   type: "velocity_controllers/JointVelocityController"
15 |   joint: base_to_left_arm
16 | 


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/CMakeLists.txt:
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 1 | cmake_minimum_required(VERSION 3.0.2)
 2 | project(tutorial)
 3 | 
 4 | ## Find catkin macros and libraries
 5 | find_package(catkin REQUIRED COMPONENTS roscpp std_msgs)
 6 | 
 7 | catkin_package()
 8 | 
 9 | ## Specify additional locations of header files
10 | ## Your package locations should be listed before other locations
11 | include_directories(include ${catkin_INCLUDE_DIRS})
12 | 
13 | add_executable(my_publisher src/main.cpp)
14 | target_link_libraries(my_publisher ${catkin_LIBRARIES})
15 | 
16 | 


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/package.xml:
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 1 | <?xml version="1.0"?>
 2 | <package format="2">
 3 |   <name>tutorial</name>
 4 |   <version>0.0.0</version>
 5 |   <description>The tutorial package contains example robot</description>
 6 |   <maintainer email="nam@todo.todo">nam</maintainer>
 7 |   <license>TODO</license>
 8 | 
 9 |   <buildtool_depend>catkin</buildtool_depend>
10 |   <exec_depend>controller_manager</exec_depend>
11 |   <exec_depend>diff_drive_controller</exec_depend>
12 |   <exec_depend>gazebo_ros</exec_depend>
13 |   <exec_depend>gazebo_ros_control</exec_depend>
14 |   <exec_depend>joint_state_controller</exec_depend>
15 |   <exec_depend>position_controllers</exec_depend>
16 |   <exec_depend>velocity_controllers</exec_depend>
17 |   <exec_depend>robot_state_publisher</exec_depend>
18 |   <exec_depend>rqt_robot_steering</exec_depend>
19 |   <exec_depend>rviz</exec_depend>
20 |   <exec_depend>xacro</exec_depend>
21 | </package>
22 | 


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/urdf/main.xacro:
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 1 | <?xml version="1.0"?>
 2 | 
 3 | <robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="my_robot">
 4 | 
 5 |     <xacro:include filename="$(find tutorial)/urdf/arm.xacro" />
 6 |     <xacro:include filename="$(find tutorial)/urdf/head.xacro" />
 7 |     
 8 |     <link name="base_link">
 9 |         <visual>
10 |             <geometry>
11 |                 <box size="1 1 1"/>
12 |             </geometry>
13 |         </visual>
14 |         <collision>
15 |             <geometry>
16 |                 <box size="1 1 1"/>
17 |             </geometry>
18 |         </collision>
19 |         <inertial>
20 |             <mass value="1"/>
21 |             <inertia ixx="0.21" ixy="0" ixz="0" iyy="0.27" iyz="0" izz="0.10"/>
22 |         </inertial>
23 |     </link>
24 |     
25 |     <xacro:arm prefix="right" length=".7" radius=".2" reflect="1" />
26 |     <xacro:arm prefix="left" length=".7" radius=".2" reflect="-1" />
27 |     <xacro:head />
28 |     
29 |     <!-- Add ROS plugin so we can interact with our robot -->
30 |     <gazebo>
31 |         <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
32 |             <robotNamespace>/</robotNamespace>
33 |         </plugin>
34 |     </gazebo>
35 | </robot>
36 | 


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/urdf/head.xacro:
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 1 | <?xml version="1.0"?>
 2 | <robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="my_robot">
 3 | <xacro:macro name="head">
 4 | 
 5 | 
 6 |     <link name="head_link">
 7 |         <visual>
 8 |             <origin rpy="0 0 0" xyz="0 0 0"/>
 9 |             <geometry>
10 |                 <mesh filename="package://tutorial/urdf/head.dae" scale="5 5 5"/>
11 |             </geometry>
12 |         </visual>
13 |         <collision>
14 |             <origin rpy="0 0 0" xyz="0 0 0"/>
15 |             <geometry>
16 |                 <sphere radius=".2"/>
17 |             </geometry>
18 |         </collision>
19 |         <inertial>
20 |             <origin rpy="0 0 0" xyz="0 0 0"/>
21 |             <mass value="1"/>
22 |             <inertia ixx="0.03" ixy="0.0" ixz="0.0" iyy="0.03" iyz="0.0" izz="0.03"/>
23 |         </inertial>
24 |     </link>
25 | 
26 | 
27 |     <joint name="base_to_head" type="continuous">
28 |         <axis xyz="0 0 1"/>  <!-- changes axis of rotation -->
29 |         <parent link="base_link"/>
30 |         <child link="head_link"/>
31 |         <origin rpy="0 0 0" xyz="0 0 .5"/> <!-- moves the child_frame with respect to parent_frame -->
32 |         <limit effort="30" velocity="1.0"/>
33 |     </joint>
34 | 
35 | 
36 |     <transmission name="head_transmission">
37 |         <type>transmission_interface/SimpleTransmission</type>
38 |         <actuator name="$head_motor">
39 |             <mechanicalReduction>1</mechanicalReduction>
40 |         </actuator>
41 |         <joint name="base_to_head">
42 |             <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
43 |         </joint>
44 |     </transmission>
45 | 
46 | 
47 | </xacro:macro>
48 | </robot>
49 | 
50 | 


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/launch/gazebo.launch:
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 1 | <?xml version="1.0"?>
 2 | <launch>
 3 |   <!-- our xacro/urdf model -->
 4 |   <arg name="model" value="$(find tutorial)/urdf/main.xacro"/>
 5 | 
 6 |   <!-- load our urdf model (string) into global parameter called "robot_description"-->
 7 |   <!-- xacro parses xacro files and returns a urdf file -->
 8 |   <param name="robot_description"
 9 |          command="$(find xacro)/xacro $(arg model)" />
10 | 
11 |   <!-- We use empty_world.launch to start gazebo, changing only the name of the world to be launched -->
12 |   <include file="$(find gazebo_ros)/launch/empty_world.launch">
13 |     <arg name="debug" value="false" />
14 |     <arg name="gui" value="true" />
15 |     <arg name="paused" value="false"/>
16 |     <arg name="use_sim_time" value="true"/>
17 |     <arg name="headless" value="false"/>
18 |   </include>
19 | 
20 | 
21 |   <!-- Spawn our robot using urdf_spawner node -->
22 |   <node name="urdf_spawner"
23 |         pkg="gazebo_ros"
24 |         type="spawn_model"
25 |         respawn="false"
26 |         output="screen"
27 |         args="-z 1.0
28 |               -unpause
29 |               -urdf
30 |               -model robot
31 |               -param robot_description"/>
32 | 
33 |   <!-- load multiple values stored in .yaml file into global parameters -->
34 |   <!-- parameters store motor controller configurations -->
35 |   <rosparam command="load"
36 |             file="$(find tutorial)/config/joints.yaml" />
37 |   
38 |   <!-- Spawn controllers -->
39 |   <node name="bot_controller_spawner"
40 |         pkg="controller_manager"
41 |         type="spawner"
42 |         args="joint_state_controller
43 |               right_arm_controller
44 |               left_arm_controller
45 |               head_controller" />
46 | </launch>
47 | 
48 | 
49 | 


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/README.md:
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 1 | # Winter Break Tutorials
 2 | 
 3 | - Slides can be found [here](https://docs.google.com/presentation/d/13XCDx3GYOWQLYuZl6OiorKB5LQHKp4tY2wDdE2C2mO4/edit#slide=id.p).
 4 | - The urdf portion is based on this [ROS tutorial](https://wiki.ros.org/urdf/Tutorials/Building%20a%20Visual%20Robot%20Model%20with%20URDF%20from%20Scratch)
 5 | - The publisher portion is based on this [ROS tutorial](https://wiki.ros.org/ROS/Tutorials/WritingPublisherSubscriber%28c%2B%2B%29)
 6 | 
 7 | ## Prerequisites
 8 | - have ubuntu and ROS installed
 9 | 
10 | ## Cloning the repo
11 | From home directory create /catkin_ws/src folder and run the following command
12 | ```
13 | mkdir -p catkin_ws/src
14 | cd catkin_ws/src
15 | git clone https://github.com/utra-robosoccer/Tutorials-2020.git
16 | ```
17 | 
18 | ## Updating Dependencies
19 | ```
20 | cd ~/catkin_ws/
21 | rosdep update
22 | rosdep install --from-paths src --ignore-src -r -y --rosdistro melodic
23 | ```
24 | 
25 | ## Installing Controllers For Robot
26 | ```
27 | sudo apt-get update
28 | sudo apt-get install ros-noetic-ros-controllers
29 | ```
30 | 
31 | 
32 | ## Building tutorial package
33 | First build the project and source the setup file so that the system knows where to look for your build files
34 | ```
35 | cd ~/catkin_ws
36 | catkin build tutorial
37 | source devel/setup.bash
38 | ```
39 | 
40 | ## Launch the robot
41 | ```
42 | roslaunch tutorial gazebo.launch
43 | ```
44 | 
45 | 
46 | ## Commands used during tutorial
47 | useful tip: press tab to auto-complete words as you type commands
48 | Open a new terminal to run commands for the robot
49 | 
50 | ```
51 | cd ~/catkin_ws
52 | source devel/setup.bash
53 | ```
54 | To run the main node run this command
55 | ```
56 | rosrun tutorial my_publisher
57 | ```
58 | 
59 | To send a command to the left arm
60 | ```
61 | rostopic pub /left_arm_controller/command std_msgs/Float64 "data: 1.0"
62 | ```
63 | 
64 | To see the ROS node tree run this command
65 | ```
66 | rqt_graph
67 | ```
68 | 


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/urdf/arm.xacro:
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 1 | <?xml version="1.0"?>
 2 | <robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="my_robot">
 3 | <xacro:macro name="arm" params="prefix radius length reflect">
 4 | 
 5 |     <!-- rpy (roll pitch yaw) describes rotation in radians -->
 6 |     <!-- xyz describes translation in meters -->
 7 |     <link name="${prefix}_arm">
 8 |         <visual>
 9 |             <origin rpy="0 0 0" xyz="0 0 1"/> <!-- set the origin to 0 to recenter the link to the child_frame -->
10 |             <geometry>
11 |                 <cylinder length="${length}" radius="${radius}"/>
12 |             </geometry>
13 |         </visual>
14 |         <collision>
15 |             <origin rpy="0 0 0" xyz="0 0 1"/> <!-- set the origin to 0 to recenter the link to the child_frame -->
16 |             <geometry>
17 |                 <cylinder length="${length}" radius="${radius}"/>
18 |             </geometry>
19 |         </collision>
20 |         <inertial>
21 |             <origin rpy="0 0 0" xyz="0 0 1"/> <!-- set the origin to 0 to recenter the link to the child_frame -->
22 |             <mass value="1"/>
23 |             <inertia ixx="0.06" ixy="0.0" ixz="0.0" iyy="0.06" iyz="0.0" izz="0.25"/>
24 |         </inertial>
25 |     </link>
26 | 
27 | 
28 |     <joint name="base_to_${prefix}_arm" type="continuous">
29 |         <axis xyz="0 1 0"/>
30 |         <parent link="base_link"/>
31 |         <child link="${prefix}_arm"/>
32 |         <origin rpy="0.2 0 0" xyz="0 ${reflect*0.7} 0"/> <!-- move the child_frame with respect to parent_frame -->
33 |         <limit effort="30" velocity="1.0"/>
34 |     </joint>
35 | 
36 | 
37 |     <transmission name="${prefix}_arm_transmission">
38 |         <type>transmission_interface/SimpleTransmission</type>
39 |         <actuator name="$${prefix}_motor">
40 |             <mechanicalReduction>1</mechanicalReduction>
41 |         </actuator>
42 |         <joint name="base_to_${prefix}_arm">
43 |             <hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
44 |         </joint>
45 |     </transmission>
46 | 
47 | 
48 | </xacro:macro>
49 | </robot>
50 | 
51 | 


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