Merge branch 'master' of github.com:jhu-lcsr/lcsr_barrett

Conflicts:
	config/wam_40.yaml

CHANGELOG.rst

@@ -1,3 +1,79 @@
+0.8.0 (2014-12-08)
+------------------
+* Adding inertia rate params
+* updating mass rate params
+* Contributors: Jonathan Bohren
+
+0.7.0 (2014-12-08)
+------------------
+* removing unneeded dependencies
+* Merge pull request `#16 <https://github.com/jhu-lcsr/lcsr_barrett/issues/16>`_ from nasnysom/cmake_depend
+  attempting indigo build.
+* moved cmake_modules dependency lines to catkin components list
+* attempting indigo build. added cmake_modules packa ge to handle Eigen dependency
+* Merge pull request `#15 <https://github.com/jhu-lcsr/lcsr_barrett/issues/15>`_ from svozar/wam40-cal
+  Update WAM40 Calibration File
+* Merge branch 'master' into wam40-cal
+* Updated WAM 40 Calibration file
+* adding additional error checking for startup
+* Merge pull request `#13 <https://github.com/jhu-lcsr/lcsr_barrett/issues/13>`_ from svozar/upstream
+  Adding WAM 40 calibration
+* Merge branch 'master' of github.com:svozar/lcsr_barrett_nasa into upstream
+* updating configuration for WAM 40
+* fixing lua hw scripts
+* Merge branch 'master' of github.com:jhu-lcsr/lcsr_barrett
+* updating wam7 launchfile to use new calibration file
+* Merge pull request `#12 <https://github.com/jhu-lcsr/lcsr_barrett/issues/12>`_ from svozar/patch-1
+  Update README.md
+* updating wam 60 calibration and creating calibration file for wm 40
+* Update README.md
+* adding moi rescaling flag to world sdf
+* adding stand-alone wam60 calibration file
+* resolving merge conflicts in hydra teleop
+* Merge branches 'master' and 'nasa-lua'
+* resolving merge of lua stuff
+* Merge pull request `#1 <https://github.com/jhu-lcsr/lcsr_barrett/issues/1>`_ from jhu-lcsr/master
+  Update from original
+* Update README.md
+* Merge pull request `#9 <https://github.com/jhu-lcsr/lcsr_barrett/issues/9>`_ from svozar/patch-5
+  Update README.md
+* Update README.md
+* Merge pull request `#8 <https://github.com/jhu-lcsr/lcsr_barrett/issues/8>`_ from svozar/patch-4
+  Update README.md
+* Update README.md
+* Merge pull request `#7 <https://github.com/jhu-lcsr/lcsr_barrett/issues/7>`_ from svozar/patch-3
+  Update README.md
+* Update README.md
+* Merge pull request `#6 <https://github.com/jhu-lcsr/lcsr_barrett/issues/6>`_ from svozar/patch-2
+  Update README.md
+* Update README.md
+* Merge pull request `#5 <https://github.com/jhu-lcsr/lcsr_barrett/issues/5>`_ from svozar/patch-1
+  Update README.md
+* Update README.md
+* Merge pull request `#4 <https://github.com/jhu-lcsr/lcsr_barrett/issues/4>`_ from svozar/patch-1
+  Update README.md
+* Update README.md
+* Update README.md
+* Update README.md
+* sim: adding args to launchfile for setting initial joint positions (note that gazebo still has issues with this sometimes)
+* updating simulation parameters for gazebo 2.2.3, fixing some problems with ik controller params
+* whitespace, reindenting, adding bhand mid-level control
+* Merge branch 'lua-testing' of github.com:jhu-lcsr/lcsr_barrett into lua-testing
+* sim: Adding verbose option and auto-enabling hand
+* updating for ldeployer
+* getting rid of ops scripts and cleaning up
+* cleaning out old ops files, adding lua scripts
+* Merge branch 'master' of github.com:jhu-lcsr/lcsr_barrett
+* iters manip
+* hydra: better gripper control
+* updating 4dof wam
+* Merge branch 'master' of github.com:jhu-lcsr/lcsr_barrett
+* fixing empty-palm control parameters and adding aruco target urdf
+* improving hydra mapping
+* Merge branch 'master' of github.com:jhu-lcsr/lcsr_barrett
+* updating hydra teleop with parameterizable command frame
+* Contributors: John Choi, Jonathan Bohren, Steve Vozar, svozar
+
 0.6.0 (2014-09-09)
 ------------------
 

CMakeLists.txt

@@ -2,30 +2,5 @@ cmake_minimum_required(VERSION 2.8.6)
 
 project(lcsr_barrett)
 
-find_package(catkin REQUIRED COMPONENTS rtt_ros kdl_urdf_tools control_toolbox)
+find_package(catkin REQUIRED COMPONENTS)
 
-find_package(OROCOS-RTT REQUIRED)
-include(${OROCOS-RTT_USE_FILE_PATH}/UseOROCOS-RTT.cmake )
-find_package(orocos_kdl REQUIRED)
-find_package(Eigen REQUIRED)
-
-include_directories(
-  ${catkin_INCLUDE_DIRS}
-  ${USE_OROCOS_INCLUDE_DIRS}
-  ${Eigen_INCLUDE_DIRS}
-  ${orocos_kdl_INCLUDE_DIRS})
-link_directories(
-  ${catkin_LIBRARY_DIRS}
-  ${orocos_kdl_LIBRARY_DIRS}
-  ${USE_OROCOS_LIBRARY_DIRS})
-
-#orocos_component(${PROJECT_NAME}
-  #src/lcsr_barrett.cpp
-  #)
-
-#target_link_libraries(
-  #${PROJECT_NAME}
-  #${USE_OROCOS_LIBRARIES} 
-  #${catkin_LIBRARIES})
-
-orocos_generate_package()

config/wam_40.yaml

@@ -1,4 +1,4 @@
-# These are the hardware calibrations for WAM#60
+# These are the hardware calibrations for WAM#40
 # Zerocal
 home_position: [0.0, -1.5708, 0.0, 3.1415, -1.5708, -1.5708, -3.5112]
 home_resolver_offset: [0.3911651009108388, -0.7086991240031661, 0.25003886842535916,

launch/hw/orocos_component_params.launch

@@ -14,6 +14,8 @@
       root_link: $(arg tf_prefix)/base_link
       end_effector_frame_link: $(arg tf_prefix)/wrist_palm_link
       gravity: [-9.8, 0.0, 0.0]
+      inertia_mass_rate: 0.3
+      inertia_com_rate: 0.05
     </rosparam>
     <rosparam if="$(arg ee_empty)" subst_value="true">
       tip_link: $(arg tf_prefix)/wrist_palm_link

launch/sim/orocos_component_params.launch

@@ -13,6 +13,8 @@
       root_link: $(arg tf_prefix)/base_link
       end_effector_frame_link: $(arg tf_prefix)/wrist_palm_link
       gravity: [-9.8, 0.0, 0.0]
+      inertia_mass_rate: 0.3
+      inertia_com_rate: 0.05
     </rosparam>
     <rosparam if="$(arg ee_empty)" subst_value="true">
       tip_link: $(arg tf_prefix)/wrist_palm_link

lua/lcsr_barrett.lua

@@ -39,7 +39,11 @@ function lcsr_barrett(sim, prefix)
   --[[ Load barrett manager, wam --]]
   rtt.log("Loading barret...")
   require("load_barrett")
-  load_barrett(depl, scheme, prefix, sim)
+  manager, effort_sum = load_barrett(depl, scheme, prefix, sim)
+  if not manager then
+    rtt.logl("Error", "Failed to create barrett manager, is the WAM plugged in and is the CANBus properly configured?");
+    return false;
+  end
 
   --[[ Load controllers --]]
   require("load_controllers")
@@ -49,5 +53,5 @@ function lcsr_barrett(sim, prefix)
   scheme:start();
 
   --[[ Set of initially running blocks --]]
-  scheme:enableBlock("devices",true);
+  return scheme:enableBlock("devices",true);
 end

lua/load_barrett.lua

@@ -49,7 +49,9 @@ function load_barrett(depl, scheme, prefix, sim, urdf_param)
   manager:loadService("rosparam")
   manager:provides("rosparam"):getAll()
   manager:provides("rosparam"):getParam(urdf_param,"robot_description")
-  manager:configure()
+  if not manager:configure() then
+    return nil, nil
+  end
 
   --[[ configure effort sum --]]
   effort_sum_name = prefix.."effort_sum"

lua/load_controllers.lua

@@ -50,14 +50,6 @@ function load_controllers(depl, scheme, prefix)
   connect(wam, "velocity_out", pid, "joint_velocity_in");
   connect(                     pid, "joint_effort_out", effort_sum, "feedback_in");
 
-  --[[ Create joint-space trapezoidal trajectory generation with KDL --]]
-  traj_kdl_name = prefix.."traj_kdl"
-  loadComponent(traj_kdl_name, "lcsr_controllers::JointTrajGeneratorKDL");
-  traj_kdl = depl:getPeer(traj_kdl_name)
-  connect(wam, "position_out", traj_kdl, "joint_position_in");
-  connect(                     traj_kdl, "joint_position_out", pid, "joint_position_cmd_in");
-  connect(                     traj_kdl, "joint_velocity_out", pid, "joint_velocity_cmd_in");
-
   --[[ Create joint-space RML trajectory generator --]]
   traj_rml_name = prefix.."traj_rml"
   depl:loadComponent(traj_rml_name,"lcsr_controllers::JointTrajGeneratorRML");
@@ -121,7 +113,6 @@ function load_controllers(depl, scheme, prefix)
 
   --[[ Configure all components --]]
   pid:configure();
-  traj_kdl:configure();
   traj_rml:configure();
   jtns:configure();
   ik:configure();
@@ -132,7 +123,6 @@ function load_controllers(depl, scheme, prefix)
 
   --[[ Add to the conman scheme --]]
   scheme:addPeer(pid);
-  scheme:addPeer(traj_kdl);
   scheme:addPeer(traj_rml);
   scheme:addPeer(jtns);
   scheme:addPeer(ik);
@@ -143,7 +133,6 @@ function load_controllers(depl, scheme, prefix)
 
   --[[ Add blocks to the scheme --]]
   scheme:addBlock(pid_name);
-  scheme:addBlock(traj_kdl_name);
   scheme:addBlock(traj_rml_name);
   scheme:addBlock(jtns_name);
   scheme:addBlock(ik_name);

package.xml

@@ -1,21 +1,12 @@
 <package>
   <name>lcsr_barrett</name>
-  <version>0.1.0</version>
+  <version>0.8.0</version>
   <license>BSD</license>
   <maintainer email="[email protected]">Jonathan Bohren</maintainer>
   <description>For running the Barrett WAM with Conman</description>
 
   <buildtool_depend>catkin</buildtool_depend>
 
-  <build_depend>rtt_ros</build_depend>
-  <build_depend>rtt_rosparam</build_depend>
-  <build_depend>rtt_ros_tools</build_depend>
-  <build_depend>rtt_sensor_msgs</build_depend>
-  <build_depend>kdl_urdf_tools</build_depend>
-  <build_depend>control_toolbox</build_depend>
-  <build_depend>conman</build_depend>
-
-
   <run_depend>rtt_ros</run_depend>
   <run_depend>rtt_rosparam</run_depend>
   <run_depend>rtt_ros_tools</run_depend>