├── .gitignore
├── trobo_description
    ├── CMakeLists.txt
    ├── package.xml
    └── urdf
    │   └── trobo.xacro
├── minimum_ros_control
    ├── CMakeLists.txt
    ├── launch
    │   └── trobo_world.launch
    └── package.xml
├── README.md
└── trobo_control
    ├── src
        ├── trobo_control.cpp
        └── trobo_hw.cpp
    ├── include
        └── trobo_control
        │   └── trobo_hw.h
    ├── package.xml
    ├── CMakeLists.txt
    └── launch
        └── trobo_control.launch


/.gitignore:
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 1 | # Emacs Files
 2 | .#*
 3 | 
 4 | 
 5 | # Allow user to enable or disable this w/o changing repo
 6 | rrbot_gazebo_plugins/CATKIN_IGNORE
 7 | 
 8 | # OSX Files
 9 | .DS_Store
10 | 


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/trobo_description/CMakeLists.txt:
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 1 | cmake_minimum_required(VERSION 2.8.3)
 2 | project(trobo_description)
 3 | 
 4 | find_package(catkin REQUIRED)
 5 | 
 6 | catkin_package()
 7 | 
 8 | install(DIRECTORY urdf
 9 |   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
10 | 


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/minimum_ros_control/CMakeLists.txt:
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 1 | cmake_minimum_required(VERSION 2.8.3)
 2 | project(minimum_ros_control)
 3 | 
 4 | find_package(catkin REQUIRED)
 5 | 
 6 | catkin_package()
 7 | 
 8 | install(DIRECTORY launch
 9 |   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
10 | 
11 | 


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/README.md:
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 1 | # minimum_ros_control
 2 | * Author: Kenta Yonekura <yoneken@ieee.org>
 3 | * License: GNU General Public License, version 3 (GPL-3.0)
 4 | * Inception Date: 4 June 2013
 5 | * Version: 1.0.0
 6 | 
 7 | This is a minimum sample to use ros_control without gazebo.
 8 | 
 9 | ## Develop and Contribute
10 | 
11 | This project is forked from gazebo_ros_demos.
12 | 


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/minimum_ros_control/launch/trobo_world.launch:
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 1 | <launch>
 2 | 
 3 |   <!-- Load the URDF into the ROS Parameter Server -->
 4 |   <param name="robot_description"
 5 | 	 command="$(find xacro)/xacro '$(find trobo_description)/urdf/trobo.xacro'" />
 6 | 
 7 |   <!-- ros_control rrbot launch file -->
 8 |   <include file="$(find trobo_control)/launch/trobo_control.launch" />
 9 | 
10 | </launch>
11 | 


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/trobo_description/package.xml:
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 1 | <?xml version="1.0"?>
 2 | <package>
 3 |   <name>trobo_description</name>
 4 |   <version>0.0.0</version>
 5 |   <description>The trobo_description package</description>
 6 | 
 7 |   <maintainer email="yoneken@ieee.org">Kenta Yonekura</maintainer>
 8 | 
 9 |   <license>BSD</license>
10 | 
11 |   <author email="davetcoleman@gmail.com">Dave Coleman</author>
12 | 
13 |   <buildtool_depend>catkin</buildtool_depend>
14 | 
15 |   <export>
16 |   </export>
17 | </package>
18 | 


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/minimum_ros_control/package.xml:
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 1 | <package>
 2 |   <name>minimum_ros_control</name>
 3 |   <version>0.1.0</version>
 4 |   <description>minimum_ros_control</description>
 5 |   <maintainer email="yoneken@ieee.org">Kenta Yonekura</maintainer>
 6 | 
 7 |   <license>BSD</license>
 8 | 
 9 |   <author email="yoneken@ieee.org">Kenta Yonekura</author>
10 | 
11 |   <buildtool_depend>catkin</buildtool_depend>
12 | 
13 |   <run_depend>trobo_description</run_depend>
14 |   <run_depend>trobo_control</run_depend> 
15 | 
16 |   <export>
17 |   </export>
18 | </package>
19 | 


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/trobo_control/src/trobo_control.cpp:
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 1 | #include <ros/ros.h>
 2 | #include <controller_manager/controller_manager.h>
 3 | #include <trobo_control/trobo_hw.h>
 4 | 
 5 | int main(int argc, char *argv[])
 6 | {
 7 |   ros::init(argc, argv, "trobo_control");
 8 |   ros::NodeHandle nh;
 9 | 
10 |   TRobo trobo;
11 |   controller_manager::ControllerManager cm(&trobo, nh);
12 | 
13 |   ros::AsyncSpinner spinner(1);
14 |   spinner.start();
15 | 
16 |   while(ros::ok())
17 |   {
18 |     ros::Time now = trobo.getTime();
19 |     ros::Duration dt = trobo.getPeriod();
20 | 
21 |     trobo.read(now, dt);
22 |     cm.update(now, dt);
23 | 
24 |     trobo.write(now, dt);
25 |     dt.sleep();
26 |   }
27 |   spinner.stop();
28 | 
29 |   return 0;
30 | }
31 | 
32 | 


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/trobo_control/include/trobo_control/trobo_hw.h:
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 1 | #include <ros/ros.h>
 2 | #include <hardware_interface/joint_command_interface.h>
 3 | #include <hardware_interface/joint_state_interface.h>
 4 | #include <hardware_interface/robot_hw.h>
 5 | #include <map>
 6 | #include <string>
 7 | #include <vector>
 8 | 
 9 | class TRobo : public hardware_interface::RobotHW
10 | {
11 | public:
12 |   TRobo();
13 | 
14 |   ros::Time getTime() const { return ros::Time::now(); }
15 |   ros::Duration getPeriod() const { return ros::Duration(0.01); }
16 | 
17 |   void read(ros::Time, ros::Duration);
18 | 
19 |   void write(ros::Time, ros::Duration);
20 | 
21 | protected:
22 |   hardware_interface::JointStateInterface jnt_state_interface;
23 |   hardware_interface::EffortJointInterface jnt_eff_interface;
24 |   double cmd_[1];
25 |   double pos_[1];
26 |   double vel_[1];
27 |   double eff_[1];
28 | 
29 | };
30 | 
31 | 


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/trobo_control/package.xml:
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 1 | <?xml version="1.0"?>
 2 | <package>
 3 |   <name>trobo_control</name>
 4 |   <version>0.0.0</version>
 5 |   <description>The trobo_control package</description>
 6 | 
 7 |   <maintainer email="yoneken@ieee.org">Kenta Yonekura</maintainer>
 8 | 
 9 |   <license>BSD</license>
10 | 
11 |   <author email="davetcoleman@gmail.com">Dave Coleman</author>
12 | 
13 |   <buildtool_depend>catkin</buildtool_depend>
14 |   <build_depend>roscpp</build_depend>
15 |   <build_depend>hardware_interface</build_depend>
16 |   <build_depend>transmission_interface</build_depend>
17 |   <build_depend>controller_manager</build_depend>
18 | 
19 |   <run_depend>roscpp</run_depend>
20 |   <run_depend>hardware_interface</run_depend>
21 |   <run_depend>transmission_interface</run_depend>
22 |   <run_depend>controller_manager</run_depend>
23 | 
24 |   <export>
25 |   </export>
26 | 
27 | </package>
28 | 


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/trobo_control/src/trobo_hw.cpp:
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 1 | #include <ros/ros.h>
 2 | #include <ros/package.h>
 3 | #include <angles/angles.h>
 4 | #include <trobo_control/trobo_hw.h>
 5 | #include <iostream> // for debug
 6 | #include <math.h>
 7 | 
 8 | TRobo::TRobo()
 9 | {
10 |   // connect and register the joint state interface
11 |   hardware_interface::JointStateHandle state_handle_1("joint1", &pos_[0], &vel_[0], &eff_[0]);
12 |   jnt_state_interface.registerHandle(state_handle_1);
13 |   registerInterface(&jnt_state_interface);
14 | 
15 |   // connect and register the joint position interface
16 |   hardware_interface::JointHandle pos_handle_1(jnt_state_interface.getHandle("joint1"), &cmd_[0]);
17 |   jnt_eff_interface.registerHandle(pos_handle_1);
18 |   registerInterface(&jnt_eff_interface);
19 | }
20 | 
21 | void TRobo::read(ros::Time time, ros::Duration period)
22 | {
23 | }
24 | 
25 | void TRobo::write(ros::Time time, ros::Duration period)
26 | {
27 |   //pos_[0] = cmd_[0];
28 | }
29 | 
30 | 


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/trobo_control/CMakeLists.txt:
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 1 | cmake_minimum_required(VERSION 2.8.3)
 2 | project(trobo_control)
 3 | 
 4 | find_package(catkin REQUIRED COMPONENTS
 5 |   roscpp
 6 |   hardware_interface
 7 |   transmission_interface
 8 |   controller_manager
 9 | )
10 | 
11 | catkin_package(
12 |  INCLUDE_DIRS include
13 | #  LIBRARIES trobo_control
14 |   CATKIN_DEPENDS roscpp hardware_interface transmission_interface controller_manager
15 | #  DEPENDS system_lib
16 | )
17 | 
18 | include_directories(
19 |   include
20 |   ${catkin_INCLUDE_DIRS}
21 | )
22 | 
23 | add_executable(trobo_control src/trobo_control.cpp src/trobo_hw.cpp)
24 | 
25 | target_link_libraries(trobo_control
26 |   ${catkin_LIBRARIES}
27 | )
28 | 
29 | install(TARGETS trobo_control
30 | #   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
31 | #   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
32 |   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
33 | )
34 | 
35 | install(DIRECTORY launch
36 |   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
37 | 


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/trobo_control/launch/trobo_control.launch:
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 1 | <launch>
 2 | 
 3 |   <rosparam>
 4 |     trobo:
 5 |       # Publish all joint states -----------------------------------
 6 |       joint_state_controller:
 7 |         type: joint_state_controller/JointStateController
 8 |         publish_rate: 100  
 9 |   
10 |       # Position Controllers ---------------------------------------
11 |       joint1_position_controller:
12 |         type: effort_controllers/JointPositionController
13 |         joint: joint1
14 |         pid: {p: 10.0, i: 0.0, d: 0.0}
15 |   </rosparam>
16 |   <!-- rosparam file="$(find trobo_control)/config/trobo_control.yaml" command="load"/ -->
17 | 
18 |   <node name="trobo_control" pkg="trobo_control" type="trobo_control" 
19 |         output="screen" ns="/trobo"/>
20 | 
21 |   <node name="controller_spawner" pkg="controller_manager" 
22 |         type="spawner" respawn="false"
23 | 	output="screen" ns="/trobo" 
24 |         args="joint_state_controller joint1_position_controller"/> 
25 | 
26 |   <node name="robot_state_publisher" pkg="robot_state_publisher" 
27 |         type="robot_state_publisher" respawn="false" output="screen">
28 |     <remap from="/joint_states" to="/trobo/joint_states" />
29 |   </node>
30 | 
31 | </launch>
32 | 


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/trobo_description/urdf/trobo.xacro:
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  1 | <?xml version="1.0"?>
  2 | <!-- Revolute-Revolute Manipulator -->
  3 | <robot name="trobo" xmlns:xacro="http://www.ros.org/wiki/xacro">
  4 | 
  5 |   <!-- Constants for robot dimensions -->
  6 |   <xacro:property name="PI" value="3.1415926535897931"/>
  7 |   <xacro:property name="width" value="0.1" /> <!-- Square dimensions (widthxwidth) of beams -->
  8 |   <xacro:property name="height1" value="2" /> <!-- Link 1 -->
  9 |   <xacro:property name="height2" value="1" /> <!-- Link 2 -->
 10 |   <xacro:property name="height3" value="1" /> <!-- Link 3 -->
 11 |   <xacro:property name="camera_link" value="0.05" /> <!-- Size of square 'camera' box -->
 12 |   <xacro:property name="axel_offset" value="0.05" /> <!-- Space btw top of beam and the each joint -->
 13 | 
 14 |   <!-- Import all Gazebo-customization elements, including Gazebo colors -->
 15 |   <xacro:include filename="$(find trobo_description)/urdf/trobo.gazebo" />
 16 |   <!-- Import Rviz colors -->
 17 |   <xacro:include filename="$(find trobo_description)/urdf/materials.xacro" />
 18 | 
 19 |   <!-- Used for fixing robot to Gazebo 'base_link' -->
 20 |   <link name="world"/>
 21 | 
 22 |   <joint name="fixed" type="fixed">
 23 |     <parent link="world"/>
 24 |     <child link="link1"/>
 25 |   </joint>
 26 | 
 27 |   <!-- Base Link -->
 28 |   <link name="link1">
 29 |     <collision>
 30 |       <origin xyz="0 0 ${height1/2}" rpy="0 0 0"/>
 31 |       <geometry>
 32 | 	<box size="${width} ${width} ${height1}"/>
 33 |       </geometry>
 34 |     </collision>
 35 | 
 36 |     <visual>
 37 |       <origin xyz="0 0 ${height1/2}" rpy="0 0 0"/>
 38 |       <geometry>
 39 | 	<box size="${width} ${width} ${height1}"/>
 40 |       </geometry>
 41 |       <material name="orange"/>
 42 |     </visual>
 43 | 
 44 |     <inertial>
 45 |       <origin xyz="0 0 ${height1/2}" rpy="0 0 0"/>
 46 |       <mass value="1"/>
 47 |       <inertia
 48 | 	  ixx="1.0" ixy="0.0" ixz="0.0"
 49 | 	  iyy="1.0" iyz="0.0"
 50 | 	  izz="1.0"/>
 51 |     </inertial>
 52 |   </link>
 53 | 
 54 |   <joint name="joint1" type="continuous">
 55 |     <parent link="link1"/>
 56 |     <child link="link2"/>
 57 |     <origin xyz="0 ${width} ${height1 - axel_offset}" rpy="0 0 0"/>
 58 |     <axis xyz="0 1 0"/>
 59 |     <dynamics damping="0.7"/>
 60 |   </joint>
 61 | 
 62 |   <!-- Middle Link -->
 63 |   <link name="link2">
 64 |     <collision>
 65 |       <origin xyz="0 0 ${height2/2 - axel_offset}" rpy="0 0 0"/>
 66 |       <geometry>
 67 | 	<box size="${width} ${width} ${height2}"/>
 68 |       </geometry>
 69 |     </collision>
 70 | 
 71 |     <visual>
 72 |       <origin xyz="0 0 ${height2/2 - axel_offset}" rpy="0 0 0"/>
 73 |       <geometry>
 74 | 	<box size="${width} ${width} ${height2}"/>
 75 |       </geometry>
 76 |       <material name="black"/>
 77 |     </visual>
 78 | 
 79 |     <inertial>
 80 |       <origin xyz="0 0 ${height2/2 - axel_offset}" rpy="0 0 0"/>
 81 |       <mass value="1"/>
 82 |       <inertia
 83 | 	  ixx="1.0" ixy="0.0" ixz="0.0"
 84 | 	  iyy="1.0" iyz="0.0"
 85 | 	  izz="1.0"/>
 86 |     </inertial>
 87 |   </link>
 88 | 
 89 |   <transmission name="tran1">
 90 |     <type>transmission_interface/SimpleTransmission</type>
 91 |     <joint name="joint1">
 92 |       <hardwareInterface>EffortJointInterface</hardwareInterface>
 93 |     </joint>
 94 |     <actuator name="motor1">
 95 |       <hardwareInterface>EffortJointInterface</hardwareInterface>
 96 |       <mechanicalReduction>1</mechanicalReduction>
 97 |     </actuator>
 98 |   </transmission>
 99 | 
100 | </robot>
101 | 


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