commit 8cecde8917577977e2f07da3c7497a1317d5948e Author: Ram Vempati <63425932+APetabyteOfRAM@users.noreply.github.com> Date: Sat Sep 18 10:42:37 2021 -0400 Add files via upload diff --git a/olympian_description/CMakeLists.txt b/olympian_description/CMakeLists.txt new file mode 100644 index 0000000..2913fbd --- /dev/null +++ b/olympian_description/CMakeLists.txt @@ -0,0 +1,197 @@ +cmake_minimum_required(VERSION 2.8.3) +project(olympian_description) + +## Compile as C++11, supported in ROS Kinetic and newer +# add_compile_options(-std=c++11) + +## Find catkin macros and libraries +## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) +## is used, also find other catkin packages +find_package(catkin REQUIRED COMPONENTS + rospy +) + +## System dependencies are found with CMake's conventions +# find_package(Boost REQUIRED COMPONENTS system) + + +## Uncomment this if the package has a setup.py. This macro ensures +## modules and global scripts declared therein get installed +## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html +# catkin_python_setup() + +################################################ +## Declare ROS messages, services and actions ## +################################################ + +## To declare and build messages, services or actions from within this +## package, follow these steps: +## * Let MSG_DEP_SET be the set of packages whose message types you use in +## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). +## * In the file package.xml: +## * add a build_depend tag for "message_generation" +## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET +## * If MSG_DEP_SET isn't empty the following dependency has been pulled in +## but can be declared for certainty nonetheless: +## * add a exec_depend tag for "message_runtime" +## * In this file (CMakeLists.txt): +## * add "message_generation" and every package in MSG_DEP_SET to +## find_package(catkin REQUIRED COMPONENTS ...) +## * add "message_runtime" and every package in MSG_DEP_SET to +## catkin_package(CATKIN_DEPENDS ...) +## * uncomment the add_*_files sections below as needed +## and list every .msg/.srv/.action file to be processed +## * uncomment the generate_messages entry below +## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) + +## Generate messages in the 'msg' folder +# add_message_files( +# FILES +# Message1.msg +# Message2.msg +# ) + +## Generate services in the 'srv' folder +# add_service_files( +# FILES +# Service1.srv +# Service2.srv +# ) + +## Generate actions in the 'action' folder +# add_action_files( +# FILES +# Action1.action +# Action2.action +# ) + +## Generate added messages and services with any dependencies listed here +# generate_messages( +# DEPENDENCIES +# std_msgs # Or other packages containing msgs +# ) + +################################################ +## Declare ROS dynamic reconfigure parameters ## +################################################ + +## To declare and build dynamic reconfigure parameters within this +## package, follow these steps: +## * In the file package.xml: +## * add a build_depend and a exec_depend tag for "dynamic_reconfigure" +## * In this file (CMakeLists.txt): +## * add "dynamic_reconfigure" to +## find_package(catkin REQUIRED COMPONENTS ...) +## * uncomment the "generate_dynamic_reconfigure_options" section below +## and list every .cfg file to be processed + +## Generate dynamic reconfigure parameters in the 'cfg' folder +# generate_dynamic_reconfigure_options( +# cfg/DynReconf1.cfg +# cfg/DynReconf2.cfg +# ) + +################################### +## catkin specific configuration ## +################################### +## The catkin_package macro generates cmake config files for your package +## Declare things to be passed to dependent projects +## INCLUDE_DIRS: uncomment this if your package contains header files +## LIBRARIES: libraries you create in this project that dependent projects also need +## CATKIN_DEPENDS: catkin_packages dependent projects also need +## DEPENDS: system dependencies of this project that dependent projects also need +catkin_package( +# INCLUDE_DIRS include +# LIBRARIES fusion2urdf +# CATKIN_DEPENDS rospy +# DEPENDS system_lib +) + +########### +## Build ## +########### + +## Specify additional locations of header files +## Your package locations should be listed before other locations +include_directories( +# include + ${catkin_INCLUDE_DIRS} +) + +## Declare a C++ library +# add_library(${PROJECT_NAME} +# src/${PROJECT_NAME}/fusion2urdf.cpp +# ) + +## Add cmake target dependencies of the library +## as an example, code may need to be generated before libraries +## either from message generation or dynamic reconfigure +# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Declare a C++ executable +## With catkin_make all packages are built within a single CMake context +## The recommended prefix ensures that target names across packages don't collide +# add_executable(${PROJECT_NAME}_node src/fusion2urdf_node.cpp) + +## Rename C++ executable without prefix +## The above recommended prefix causes long target names, the following renames the +## target back to the shorter version for ease of user use +## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" +# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "") + +## Add cmake target dependencies of the executable +## same as for the library above +# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Specify libraries to link a library or executable target against +# target_link_libraries(${PROJECT_NAME}_node +# ${catkin_LIBRARIES} +# ) + +############# +## Install ## +############# + +# all install targets should use catkin DESTINATION variables +# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html + +## Mark executable scripts (Python etc.) for installation +## in contrast to setup.py, you can choose the destination +# install(PROGRAMS +# scripts/my_python_script +# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark executables and/or libraries for installation +# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node +# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark cpp header files for installation +# install(DIRECTORY include/${PROJECT_NAME}/ +# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +# FILES_MATCHING PATTERN "*.h" +# PATTERN ".svn" EXCLUDE +# ) + +## Mark other files for installation (e.g. launch and bag files, etc.) +# install(FILES +# # myfile1 +# # myfile2 +# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +# ) + +############# +## Testing ## +############# + +## Add gtest based cpp test target and link libraries +# catkin_add_gtest(${PROJECT_NAME}-test test/test_fusion2urdf.cpp) +# if(TARGET ${PROJECT_NAME}-test) +# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) +# endif() + +## Add folders to be run by python nosetests +# catkin_add_nosetests(test) diff --git a/olympian_description/LICENSE b/olympian_description/LICENSE new file mode 100644 index 0000000..314c3af --- /dev/null +++ b/olympian_description/LICENSE @@ -0,0 +1,21 @@ +MIT License + +Copyright (c) 2018 Toshinori Kitamura + +Permission is hereby granted, free of charge, to any person obtaining a copy +of this software and associated documentation files (the "Software"), to deal +in the Software without restriction, including without limitation the rights +to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +copies of the Software, and to permit persons to whom the Software is +furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in all +copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +SOFTWARE. diff --git a/olympian_description/launch/controller.launch b/olympian_description/launch/controller.launch new file mode 100644 index 0000000..3b53e4c --- /dev/null +++ b/olympian_description/launch/controller.launch @@ -0,0 +1,9 @@ + + + + + + + + + \ No newline at end of file diff --git a/olympian_description/launch/controller.yaml b/olympian_description/launch/controller.yaml new file mode 100644 index 0000000..f1485e6 --- /dev/null +++ b/olympian_description/launch/controller.yaml @@ -0,0 +1,99 @@ +olympian_controller: + # Publish all joint states ----------------------------------- + joint_state_controller: + type: joint_state_controller/JointStateController + publish_rate: 50 + + # Position Controllers -------------------------------------- + Rev1_position_controller: + type: effort_controllers/JointPositionController + joint: Rev1 + pid: {p: 100.0, i: 0.01, d: 10.0} + Rev2_position_controller: + type: effort_controllers/JointPositionController + joint: Rev2 + pid: {p: 100.0, i: 0.01, d: 10.0} + Rev3_position_controller: + type: effort_controllers/JointPositionController + joint: Rev3 + pid: {p: 100.0, i: 0.01, d: 10.0} + Rev4_position_controller: + type: effort_controllers/JointPositionController + joint: Rev4 + pid: {p: 100.0, i: 0.01, d: 10.0} + Rev5_position_controller: + type: effort_controllers/JointPositionController + joint: Rev5 + pid: {p: 100.0, i: 0.01, d: 10.0} + Rev6_position_controller: + type: effort_controllers/JointPositionController + joint: Rev6 + pid: {p: 100.0, i: 0.01, d: 10.0} + Rev7_position_controller: + type: effort_controllers/JointPositionController + joint: Rev7 + pid: {p: 100.0, i: 0.01, d: 10.0} + Rev8_position_controller: + type: effort_controllers/JointPositionController + joint: Rev8 + pid: {p: 100.0, i: 0.01, d: 10.0} + Rev9_position_controller: + type: effort_controllers/JointPositionController + joint: Rev9 + pid: {p: 100.0, i: 0.01, d: 10.0} + Rev10_position_controller: + type: effort_controllers/JointPositionController + joint: Rev10 + pid: {p: 100.0, i: 0.01, d: 10.0} + Rev11_position_controller: + type: effort_controllers/JointPositionController + joint: Rev11 + pid: {p: 100.0, i: 0.01, d: 10.0} + Rev12_position_controller: + type: effort_controllers/JointPositionController + joint: Rev12 + pid: {p: 100.0, i: 0.01, d: 10.0} + Rev13_position_controller: + type: effort_controllers/JointPositionController + joint: Rev13 + pid: {p: 100.0, i: 0.01, d: 10.0} + Rev14_position_controller: + type: effort_controllers/JointPositionController + joint: Rev14 + pid: {p: 100.0, i: 0.01, d: 10.0} + Rev15_position_controller: + type: effort_controllers/JointPositionController + joint: Rev15 + pid: {p: 100.0, i: 0.01, d: 10.0} + Rev16_position_controller: + type: effort_controllers/JointPositionController + joint: Rev16 + pid: {p: 100.0, i: 0.01, d: 10.0} + Rev19_position_controller: + type: effort_controllers/JointPositionController + joint: Rev19 + pid: {p: 100.0, i: 0.01, d: 10.0} + Rev20_position_controller: + type: effort_controllers/JointPositionController + joint: Rev20 + pid: {p: 100.0, i: 0.01, d: 10.0} + Rev21_position_controller: + type: effort_controllers/JointPositionController + joint: Rev21 + pid: {p: 100.0, i: 0.01, d: 10.0} + Rev22_position_controller: + type: effort_controllers/JointPositionController + joint: Rev22 + pid: {p: 100.0, i: 0.01, d: 10.0} + Rev23_position_controller: + type: effort_controllers/JointPositionController + joint: Rev23 + pid: {p: 100.0, i: 0.01, d: 10.0} + Rev24_position_controller: + type: effort_controllers/JointPositionController + joint: Rev24 + pid: {p: 100.0, i: 0.01, d: 10.0} + Rev25_position_controller: + type: effort_controllers/JointPositionController + joint: Rev25 + pid: {p: 100.0, i: 0.01, d: 10.0} diff --git a/olympian_description/launch/display.launch b/olympian_description/launch/display.launch new file mode 100644 index 0000000..ff780e4 --- /dev/null +++ b/olympian_description/launch/display.launch @@ -0,0 +1,10 @@ + + + + + + + + + + diff --git a/olympian_description/launch/gazebo.launch b/olympian_description/launch/gazebo.launch new file mode 100644 index 0000000..ece2f95 --- /dev/null +++ b/olympian_description/launch/gazebo.launch @@ -0,0 +1,11 @@ + + + + + + + + + + + diff --git a/olympian_description/launch/urdf.rviz b/olympian_description/launch/urdf.rviz new file mode 100644 index 0000000..b80bcfa --- /dev/null +++ b/olympian_description/launch/urdf.rviz @@ -0,0 +1,422 @@ +Panels: + - Class: rviz/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /Status1 + - /RobotModel1 + - /TF1 + Splitter Ratio: 0.5 + Tree Height: 591 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.5886790156364441 + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: "" +Preferences: + PromptSaveOnExit: true +Toolbars: + toolButtonStyle: 2 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.029999999329447746 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Alpha: 1 + Class: rviz/RobotModel + Collision Enabled: false + Enabled: true + Links: + 2dofknuckle_link_1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + 2dofknuckle_link_10: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + 2dofknuckle_link_2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + 2dofknuckle_link_3: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + 2dofknuckle_link_4: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + 2dofknuckle_link_5: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + 2dofknuckle_link_6: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + 2dofknuckle_link_7: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + 2dofknuckle_link_8: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + 2dofknuckle_link_9: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bucket_link_1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + face_link_1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + facebracket_link_1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + hcsr04_cans_link_1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + hcsr04_chips_link_1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + hcsr04_link_1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + leg_link_1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + leg_link_2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + leg_link_3: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + leg_link_4: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + lipo_link_1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + mg90_link_1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + mg90_link_10: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + mg90_link_2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + mg90_link_3: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + mg90_link_4: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + mg90_link_5: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + mg90_link_6: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + mg90_link_7: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + mg90_link_8: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + mg90_link_9: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + mpu9250_cap_link_1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + mpu9250_link_1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + mpu9250_mpu_link_1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + pizerow_cam_link_1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + pizerow_con_link_1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + pizerow_cpu_link_1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + pizerow_link_1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + raspicam_cam_link_1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + raspicam_chips_link_1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + raspicam_con_link_1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + raspicam_link_1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + servobottom_link_1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + servobottom_link_10: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + servobottom_link_2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + servobottom_link_3: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + servobottom_link_4: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + servobottom_link_5: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + servobottom_link_6: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + servobottom_link_7: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + servobottom_link_8: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + servobottom_link_9: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + shell_link_1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Name: RobotModel + Robot Description: robot_description + TF Prefix: "" + Update Interval: 0 + Value: true + Visual Enabled: true + - Class: rviz/TF + Enabled: false + Frame Timeout: 15 + Frames: + All Enabled: true + Marker Scale: 0.5 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: true + Tree: + {} + Update Interval: 0 + Value: false + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Default Light: true + Fixed Frame: base_link + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + - Class: rviz/FocusCamera + - Class: rviz/Measure + - Class: rviz/SetInitialPose + Theta std deviation: 0.2617993950843811 + Topic: /initialpose + X std deviation: 0.5 + Y std deviation: 0.5 + - Class: rviz/SetGoal + Topic: /move_base_simple/goal + - Class: rviz/PublishPoint + Single click: true + Topic: /clicked_point + Value: true + Views: + Current: + Class: rviz/Orbit + Distance: 0.34426525235176086 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: -0.0016349668148905039 + Y: -0.014781012199819088 + Z: 0.017814036458730698 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 0.46039697527885437 + Target Frame: + Value: Orbit (rviz) + Yaw: 0.593582272529602 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 882 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 000000ff00000000fd000000040000000000000142000002d9fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005d00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000037000002d9000000ca00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002d9fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730100000037000002d9000000a100fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004c000000044fc0100000002fb0000000800540069006d00650100000000000004c00000026b00fffffffb0000000800540069006d0065010000000000000450000000000000000000000267000002d900000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1216 + X: 700 + Y: 385 diff --git a/olympian_description/meshes/Ankle_Link_v1_1.stl b/olympian_description/meshes/Ankle_Link_v1_1.stl new file mode 100644 index 0000000..2eb4e81 Binary files /dev/null and b/olympian_description/meshes/Ankle_Link_v1_1.stl differ diff --git a/olympian_description/meshes/Ankle_Link_v1_2.stl b/olympian_description/meshes/Ankle_Link_v1_2.stl new file mode 100644 index 0000000..eee8628 Binary files /dev/null and b/olympian_description/meshes/Ankle_Link_v1_2.stl differ diff --git a/olympian_description/meshes/Box_Head_v1_1.stl b/olympian_description/meshes/Box_Head_v1_1.stl new file mode 100644 index 0000000..645f054 Binary files /dev/null and b/olympian_description/meshes/Box_Head_v1_1.stl differ diff --git a/olympian_description/meshes/Chest_v6_1.stl b/olympian_description/meshes/Chest_v6_1.stl new file mode 100644 index 0000000..69a76a1 Binary files /dev/null and b/olympian_description/meshes/Chest_v6_1.stl differ diff --git a/olympian_description/meshes/Foot_v2_1.stl b/olympian_description/meshes/Foot_v2_1.stl new file mode 100644 index 0000000..19e0293 Binary files /dev/null and b/olympian_description/meshes/Foot_v2_1.stl differ diff --git a/olympian_description/meshes/Foot_v2_2.stl b/olympian_description/meshes/Foot_v2_2.stl new file mode 100644 index 0000000..7923bd6 Binary files /dev/null and b/olympian_description/meshes/Foot_v2_2.stl differ diff --git a/olympian_description/meshes/Leg_Pitch_v2_1.stl b/olympian_description/meshes/Leg_Pitch_v2_1.stl new file mode 100644 index 0000000..074590f Binary files /dev/null and b/olympian_description/meshes/Leg_Pitch_v2_1.stl differ diff --git a/olympian_description/meshes/Leg_Pitch_v2_2.stl b/olympian_description/meshes/Leg_Pitch_v2_2.stl new file mode 100644 index 0000000..9ea06e9 Binary files /dev/null and b/olympian_description/meshes/Leg_Pitch_v2_2.stl differ diff --git a/olympian_description/meshes/Leg_Roll_v2_1.stl b/olympian_description/meshes/Leg_Roll_v2_1.stl new file mode 100644 index 0000000..08dc9f5 Binary files /dev/null and b/olympian_description/meshes/Leg_Roll_v2_1.stl differ diff --git a/olympian_description/meshes/Leg_Roll_v2_2.stl b/olympian_description/meshes/Leg_Roll_v2_2.stl new file mode 100644 index 0000000..2ced0f7 Binary files /dev/null and b/olympian_description/meshes/Leg_Roll_v2_2.stl differ diff --git a/olympian_description/meshes/Lower_Arm_v3_1.stl b/olympian_description/meshes/Lower_Arm_v3_1.stl new file mode 100644 index 0000000..c353657 Binary files /dev/null and b/olympian_description/meshes/Lower_Arm_v3_1.stl differ diff --git a/olympian_description/meshes/Lower_Arm_v3_2.stl b/olympian_description/meshes/Lower_Arm_v3_2.stl new file mode 100644 index 0000000..83caf82 Binary files /dev/null and b/olympian_description/meshes/Lower_Arm_v3_2.stl differ diff --git a/olympian_description/meshes/Lower_Leg_v2_1.stl b/olympian_description/meshes/Lower_Leg_v2_1.stl new file mode 100644 index 0000000..fd50b73 Binary files /dev/null and b/olympian_description/meshes/Lower_Leg_v2_1.stl differ diff --git a/olympian_description/meshes/Lower_Leg_v2_2.stl b/olympian_description/meshes/Lower_Leg_v2_2.stl new file mode 100644 index 0000000..641513b Binary files /dev/null and b/olympian_description/meshes/Lower_Leg_v2_2.stl differ diff --git a/olympian_description/meshes/Pelvis_v4_1.stl b/olympian_description/meshes/Pelvis_v4_1.stl new file mode 100644 index 0000000..7087e25 Binary files /dev/null and b/olympian_description/meshes/Pelvis_v4_1.stl differ diff --git a/olympian_description/meshes/Upper_Arm_Link_type_b_v2_1.stl b/olympian_description/meshes/Upper_Arm_Link_type_b_v2_1.stl new file mode 100644 index 0000000..fb79fdf Binary files /dev/null and b/olympian_description/meshes/Upper_Arm_Link_type_b_v2_1.stl differ diff --git a/olympian_description/meshes/Upper_Arm_Link_type_b_v2_2.stl b/olympian_description/meshes/Upper_Arm_Link_type_b_v2_2.stl new file mode 100644 index 0000000..61bc69d Binary files /dev/null and b/olympian_description/meshes/Upper_Arm_Link_type_b_v2_2.stl differ diff --git a/olympian_description/meshes/Upper_Arm_Roll_Link_v2_1.stl b/olympian_description/meshes/Upper_Arm_Roll_Link_v2_1.stl new file mode 100644 index 0000000..4f70c28 Binary files /dev/null and b/olympian_description/meshes/Upper_Arm_Roll_Link_v2_1.stl differ diff --git a/olympian_description/meshes/Upper_Arm_Roll_Link_v2_2.stl b/olympian_description/meshes/Upper_Arm_Roll_Link_v2_2.stl new file mode 100644 index 0000000..8881ac5 Binary files /dev/null and b/olympian_description/meshes/Upper_Arm_Roll_Link_v2_2.stl differ diff --git a/olympian_description/meshes/Upper_Arm_v8_1.stl b/olympian_description/meshes/Upper_Arm_v8_1.stl new file mode 100644 index 0000000..aa3313a Binary files /dev/null and b/olympian_description/meshes/Upper_Arm_v8_1.stl differ diff --git a/olympian_description/meshes/Upper_Arm_v8_3.stl b/olympian_description/meshes/Upper_Arm_v8_3.stl new file mode 100644 index 0000000..2201e08 Binary files /dev/null and b/olympian_description/meshes/Upper_Arm_v8_3.stl differ diff --git a/olympian_description/meshes/Upper_Leg_v1_1.stl b/olympian_description/meshes/Upper_Leg_v1_1.stl new file mode 100644 index 0000000..dc2bbe3 Binary files /dev/null and b/olympian_description/meshes/Upper_Leg_v1_1.stl differ diff --git a/olympian_description/meshes/Upper_Leg_v1_2.stl b/olympian_description/meshes/Upper_Leg_v1_2.stl new file mode 100644 index 0000000..f884c38 Binary files /dev/null and b/olympian_description/meshes/Upper_Leg_v1_2.stl differ diff --git a/olympian_description/meshes/base_link.stl b/olympian_description/meshes/base_link.stl new file mode 100644 index 0000000..ac57629 Binary files /dev/null and b/olympian_description/meshes/base_link.stl differ diff --git a/olympian_description/package.xml b/olympian_description/package.xml new file mode 100644 index 0000000..c86be87 --- /dev/null +++ b/olympian_description/package.xml @@ -0,0 +1,62 @@ + + + olympian_description + 0.0.0 +The olympian_description package + + + + + syuntoku14 + + + + + + TODO + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + rospy + rospy + rospy + + + + + + + + diff --git a/olympian_description/urdf/materials.xacro b/olympian_description/urdf/materials.xacro new file mode 100644 index 0000000..bf26428 --- /dev/null +++ b/olympian_description/urdf/materials.xacro @@ -0,0 +1,8 @@ + + + + + + + + diff --git a/olympian_description/urdf/olympian.gazebo b/olympian_description/urdf/olympian.gazebo new file mode 100644 index 0000000..e56fd8d --- /dev/null +++ b/olympian_description/urdf/olympian.gazebo @@ -0,0 +1,178 @@ + + + + + + + + + + ${body_color} + 0.2 + 0.2 + true + true + + + + ${body_color} + 0.2 + 0.2 + true + + + + ${body_color} + 0.2 + 0.2 + true + + + + ${body_color} + 0.2 + 0.2 + true + + + + ${body_color} + 0.2 + 0.2 + true + + + + ${body_color} + 0.2 + 0.2 + true + + + + ${body_color} + 0.2 + 0.2 + true + + + + ${body_color} + 0.2 + 0.2 + true + + + + ${body_color} + 0.2 + 0.2 + true + + + + ${body_color} + 0.2 + 0.2 + true + + + + ${body_color} + 0.2 + 0.2 + true + + + + ${body_color} + 0.2 + 0.2 + true + + + + ${body_color} + 0.2 + 0.2 + true + + + + ${body_color} + 0.2 + 0.2 + true + + + + ${body_color} + 0.2 + 0.2 + true + + + + ${body_color} + 0.2 + 0.2 + true + + + + ${body_color} + 0.2 + 0.2 + true + + + + ${body_color} + 0.2 + 0.2 + true + + + + ${body_color} + 0.2 + 0.2 + true + + + + ${body_color} + 0.2 + 0.2 + true + + + + ${body_color} + 0.2 + 0.2 + true + + + + ${body_color} + 0.2 + 0.2 + true + + + + ${body_color} + 0.2 + 0.2 + true + + + + ${body_color} + 0.2 + 0.2 + true + + + diff --git a/olympian_description/urdf/olympian.trans b/olympian_description/urdf/olympian.trans new file mode 100644 index 0000000..9ed6d12 --- /dev/null +++ b/olympian_description/urdf/olympian.trans @@ -0,0 +1,257 @@ + + + + + transmission_interface/SimpleTransmission + + hardware_interface/EffortJointInterface + + + hardware_interface/EffortJointInterface + 1 + + + + + transmission_interface/SimpleTransmission + + hardware_interface/EffortJointInterface + + + hardware_interface/EffortJointInterface + 1 + + + + + transmission_interface/SimpleTransmission + + hardware_interface/EffortJointInterface + + + hardware_interface/EffortJointInterface + 1 + + + + + transmission_interface/SimpleTransmission + + hardware_interface/EffortJointInterface + + + hardware_interface/EffortJointInterface + 1 + + + + + transmission_interface/SimpleTransmission + + hardware_interface/EffortJointInterface + + + hardware_interface/EffortJointInterface + 1 + + + + + transmission_interface/SimpleTransmission + + hardware_interface/EffortJointInterface + + + hardware_interface/EffortJointInterface + 1 + + + + + transmission_interface/SimpleTransmission + + hardware_interface/EffortJointInterface + + + hardware_interface/EffortJointInterface + 1 + + + + + transmission_interface/SimpleTransmission + + hardware_interface/EffortJointInterface + + + hardware_interface/EffortJointInterface + 1 + + + + + transmission_interface/SimpleTransmission + + hardware_interface/EffortJointInterface + + + hardware_interface/EffortJointInterface + 1 + + + + + transmission_interface/SimpleTransmission + + hardware_interface/EffortJointInterface + + + hardware_interface/EffortJointInterface + 1 + + + + + transmission_interface/SimpleTransmission + + hardware_interface/EffortJointInterface + + + hardware_interface/EffortJointInterface + 1 + + + + + transmission_interface/SimpleTransmission + + hardware_interface/EffortJointInterface + + + hardware_interface/EffortJointInterface + 1 + + + + + transmission_interface/SimpleTransmission + + hardware_interface/EffortJointInterface + + + hardware_interface/EffortJointInterface + 1 + + + + + transmission_interface/SimpleTransmission + + hardware_interface/EffortJointInterface + + + hardware_interface/EffortJointInterface + 1 + + + + + transmission_interface/SimpleTransmission + + hardware_interface/EffortJointInterface + + + hardware_interface/EffortJointInterface + 1 + + + + + transmission_interface/SimpleTransmission + + hardware_interface/EffortJointInterface + + + hardware_interface/EffortJointInterface + 1 + + + + + transmission_interface/SimpleTransmission + + hardware_interface/EffortJointInterface + + + hardware_interface/EffortJointInterface + 1 + + + + + transmission_interface/SimpleTransmission + + hardware_interface/EffortJointInterface + + + hardware_interface/EffortJointInterface + 1 + + + + + transmission_interface/SimpleTransmission + + hardware_interface/EffortJointInterface + + + hardware_interface/EffortJointInterface + 1 + + + + + transmission_interface/SimpleTransmission + + hardware_interface/EffortJointInterface + + + hardware_interface/EffortJointInterface + 1 + + + + + transmission_interface/SimpleTransmission + + hardware_interface/EffortJointInterface + + + hardware_interface/EffortJointInterface + 1 + + + + + transmission_interface/SimpleTransmission + + hardware_interface/EffortJointInterface + + + hardware_interface/EffortJointInterface + 1 + + + + + transmission_interface/SimpleTransmission + + hardware_interface/EffortJointInterface + + + hardware_interface/EffortJointInterface + 1 + + + + diff --git a/olympian_description/urdf/olympian.urdf b/olympian_description/urdf/olympian.urdf new file mode 100644 index 0000000..b22eebb --- /dev/null +++ b/olympian_description/urdf/olympian.urdf @@ -0,0 +1,672 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/olympian_description/urdf/olympian.xacro b/olympian_description/urdf/olympian.xacro new file mode 100644 index 0000000..b22eebb --- /dev/null +++ b/olympian_description/urdf/olympian.xacro @@ -0,0 +1,672 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +