diff --git a/ros2_ws/.vscode/c_cpp_properties.json b/ros2_ws/.vscode/c_cpp_properties.json
new file mode 100644
index 0000000000000000000000000000000000000000..d3a36710a1e87bb47ec34f667fa85c20bb7a8a70
--- /dev/null
+++ b/ros2_ws/.vscode/c_cpp_properties.json
@@ -0,0 +1,26 @@
+{
+ "configurations": [
+ {
+ "browse": {
+ "databaseFilename": "${default}",
+ "limitSymbolsToIncludedHeaders": false
+ },
+ "includePath": [
+ "/home/ventsi/trajektorien-des-menschlichen-aufstehens-fuer-die-entwicklung-eines-kooperativen-assistenzsystems/ros2_ws/install/impedance_controller/include/**",
+ "/home/ventsi/trajektorien-des-menschlichen-aufstehens-fuer-die-entwicklung-eines-kooperativen-assistenzsystems/ros2_ws/install/iiwa_hardware/include/**",
+ "/home/ventsi/trajektorien-des-menschlichen-aufstehens-fuer-die-entwicklung-eines-kooperativen-assistenzsystems/ros2_ws/install/external_torque_sensor_broadcaster/include/**",
+ "/opt/ros/humble/include/**",
+ "/home/ventsi/trajektorien-des-menschlichen-aufstehens-fuer-die-entwicklung-eines-kooperativen-assistenzsystems/ros2_ws/src/iiwa/iiwa_controllers/external_torque_sensor_broadcaster/include/**",
+ "/home/ventsi/trajektorien-des-menschlichen-aufstehens-fuer-die-entwicklung-eines-kooperativen-assistenzsystems/ros2_ws/src/iiwa/iiwa_controllers/impedance_controller/include/**",
+ "/home/ventsi/trajektorien-des-menschlichen-aufstehens-fuer-die-entwicklung-eines-kooperativen-assistenzsystems/ros2_ws/src/iiwa/iiwa_hardware/include/**",
+ "/usr/include/**"
+ ],
+ "name": "ROS",
+ "intelliSenseMode": "gcc-x64",
+ "compilerPath": "/usr/bin/gcc",
+ "cStandard": "gnu11",
+ "cppStandard": "c++14"
+ }
+ ],
+ "version": 4
+}
\ No newline at end of file
diff --git a/ros2_ws/.vscode/settings.json b/ros2_ws/.vscode/settings.json
new file mode 100644
index 0000000000000000000000000000000000000000..a5d34f69e2c3fc582fa248ffed8483f5c492df4c
--- /dev/null
+++ b/ros2_ws/.vscode/settings.json
@@ -0,0 +1,18 @@
+{
+ "python.autoComplete.extraPaths": [
+ "/home/ventsi/trajektorien-des-menschlichen-aufstehens-fuer-die-entwicklung-eines-kooperativen-assistenzsystems/ros2_ws/install/simple_robot_3dof/lib/python3.10/site-packages",
+ "/home/ventsi/trajektorien-des-menschlichen-aufstehens-fuer-die-entwicklung-eines-kooperativen-assistenzsystems/ros2_ws/install/simple_robot_2dof/lib/python3.10/site-packages",
+ "/home/ventsi/trajektorien-des-menschlichen-aufstehens-fuer-die-entwicklung-eines-kooperativen-assistenzsystems/ros2_ws/install/simple_robot_1dof/lib/python3.10/site-packages",
+ "/home/ventsi/trajektorien-des-menschlichen-aufstehens-fuer-die-entwicklung-eines-kooperativen-assistenzsystems/ros2_ws/install/iiwa_inverse_kinematics/lib/python3.10/site-packages",
+ "/opt/ros/humble/lib/python3.10/site-packages",
+ "/opt/ros/humble/local/lib/python3.10/dist-packages"
+ ],
+ "python.analysis.extraPaths": [
+ "/home/ventsi/trajektorien-des-menschlichen-aufstehens-fuer-die-entwicklung-eines-kooperativen-assistenzsystems/ros2_ws/install/simple_robot_3dof/lib/python3.10/site-packages",
+ "/home/ventsi/trajektorien-des-menschlichen-aufstehens-fuer-die-entwicklung-eines-kooperativen-assistenzsystems/ros2_ws/install/simple_robot_2dof/lib/python3.10/site-packages",
+ "/home/ventsi/trajektorien-des-menschlichen-aufstehens-fuer-die-entwicklung-eines-kooperativen-assistenzsystems/ros2_ws/install/simple_robot_1dof/lib/python3.10/site-packages",
+ "/home/ventsi/trajektorien-des-menschlichen-aufstehens-fuer-die-entwicklung-eines-kooperativen-assistenzsystems/ros2_ws/install/iiwa_inverse_kinematics/lib/python3.10/site-packages",
+ "/opt/ros/humble/lib/python3.10/site-packages",
+ "/opt/ros/humble/local/lib/python3.10/dist-packages"
+ ]
+}
\ No newline at end of file
diff --git a/ros2_ws/src/simple_robot_1dof/launch/kuka_rviz_simulation_1dof_launch.py b/ros2_ws/src/simple_robot_1dof/launch/kuka_rviz_simulation_1dof_launch.py
index ce6d5890983a2976cb0d5ffb0bb236ad2dc70abb..10ce2348917a0ea1e011d0f943849f5aa425a21a 100644
--- a/ros2_ws/src/simple_robot_1dof/launch/kuka_rviz_simulation_1dof_launch.py
+++ b/ros2_ws/src/simple_robot_1dof/launch/kuka_rviz_simulation_1dof_launch.py
@@ -16,6 +16,17 @@ def generate_launch_description():
'forward_kinematics_simulations.rviz'
)
+ # rviz_config_file_urdf = os.path.join(
+ # get_package_share_directory(package_name),
+ # 'rviz',
+ # 'urdf.rviz'
+ # )
+
+ urdf_dir = os.path.join(get_package_share_directory(package_name), 'urdf')
+ urdf_file = os.path.join(urdf_dir, 'simple_robot.urdf')
+ with open(urdf_file, 'r') as infp:
+ robot_desc = infp.read()
+
declared_arguments = []
declared_arguments.append(
DeclareLaunchArgument(
@@ -82,6 +93,13 @@ def generate_launch_description():
output='screen',
arguments=['-d', rviz_config_file]
)
+ # rviz_node_urdf = Node(
+ # package='rviz2',
+ # executable='rviz2',
+ # name='rviz2',
+ # output='screen',
+ # arguments=['-d', rviz_config_file_urdf]
+ # )
inverse_kinematics_node = Node(
package= 'iiwa_inverse_kinematics',
executable='inverse_kinematics_node',
@@ -89,11 +107,35 @@ def generate_launch_description():
output='screen',
parameters = []
)
+ robot_state_publisher = Node(
+ package='robot_state_publisher',
+ executable='robot_state_publisher',
+ output='both',
+ parameters=[
+ {'robot_description': robot_desc}
+ ]
+ )
+ joint_state_publisher = Node(
+ package='joint_state_publisher',
+ executable='joint_state_publisher',
+ output = 'both',
+ # parameters=[params]
+ )
+ joint_state_publisher_gui = Node(
+ package='joint_state_publisher_gui',
+ executable='joint_state_publisher_gui',
+ name='joint_state_publisher_gui',
+ output='screen',
+ )
nodes = [
forward_kinematics_node,
reference_node,
rviz_node,
- inverse_kinematics_node
+ # rviz_node_urdf,
+ inverse_kinematics_node,
+ robot_state_publisher,
+ joint_state_publisher,
+ joint_state_publisher_gui
]
return LaunchDescription(declared_arguments + nodes)
\ No newline at end of file
diff --git a/ros2_ws/src/simple_robot_1dof/package.xml b/ros2_ws/src/simple_robot_1dof/package.xml
index 62fe77b7e2840b60d2e87edc54471d64a55ef914..a1efe732f0c7906e5c73a440146318793932e574 100644
--- a/ros2_ws/src/simple_robot_1dof/package.xml
+++ b/ros2_ws/src/simple_robot_1dof/package.xml
@@ -7,6 +7,23 @@
<maintainer email="ventsi@todo.todo">ventsi</maintainer>
<license>Apache-2.0</license>
+ <depend>rclpy</depend>
+ <depend>robot_state_publisher</depend>
+ <depend>rviz2</depend>
+ <depend>joint_state_publisher_gui</depend>
+
+ <depend>builtin_interfaces</depend>
+ <depend>geometry_msgs</depend>
+ <depend>kdl_parser</depend>
+ <depend>orocos_kdl_vendor</depend>
+ <depend>rcl_interfaces</depend>
+ <depend>rclcpp</depend>
+ <depend>rclcpp_components</depend>
+ <depend>sensor_msgs</depend>
+ <depend>std_msgs</depend>
+ <depend>tf2_ros</depend>
+ <depend>urdf</depend>
+
<test_depend>ament_copyright</test_depend>
<test_depend>ament_flake8</test_depend>
<test_depend>ament_pep257</test_depend>
diff --git a/ros2_ws/src/simple_robot_1dof/rviz/forward_kinematics_simulations.rviz:Zone.Identifier b/ros2_ws/src/simple_robot_1dof/rviz/forward_kinematics_simulations.rviz:Zone.Identifier
deleted file mode 100644
index e69de29bb2d1d6434b8b29ae775ad8c2e48c5391..0000000000000000000000000000000000000000
diff --git a/ros2_ws/src/simple_robot_1dof/rviz/urdf.rviz b/ros2_ws/src/simple_robot_1dof/rviz/urdf.rviz
new file mode 100644
index 0000000000000000000000000000000000000000..424e079802ec0c80a81328803903c91d56b31cf0
--- /dev/null
+++ b/ros2_ws/src/simple_robot_1dof/rviz/urdf.rviz
@@ -0,0 +1,206 @@
+Panels:
+ - Class: rviz_common/Displays
+ Help Height: 138
+ Name: Displays
+ Property Tree Widget:
+ Expanded:
+ - /Global Options1
+ - /Status1
+ - /RobotModel1
+ Splitter Ratio: 0.5
+ Tree Height: 340
+ - Class: rviz_common/Selection
+ Name: Selection
+ - Class: rviz_common/Tool Properties
+ Expanded:
+ - /2D Goal Pose1
+ - /Publish Point1
+ Name: Tool Properties
+ Splitter Ratio: 0.5886790156364441
+ - Class: rviz_common/Views
+ Expanded:
+ - /Current View1
+ Name: Views
+ Splitter Ratio: 0.5
+ - Class: rviz_common/Time
+ Experimental: false
+ Name: Time
+ SyncMode: 0
+ SyncSource: ""
+Visualization Manager:
+ Class: ""
+ Displays:
+ - Alpha: 0.5
+ Cell Size: 1
+ Class: rviz_default_plugins/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: <Fixed Frame>
+ Value: true
+ - Alpha: 1
+ Class: rviz_default_plugins/RobotModel
+ Collision Enabled: false
+ Description File: ""
+ Description Source: Topic
+ Description Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /robot_description
+ Enabled: true
+ Links:
+ All Links Enabled: true
+ Expand Joint Details: false
+ Expand Link Details: false
+ Expand Tree: false
+ Link Tree Style: Links in Alphabetic Order
+ arm1:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ arm2:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ arm3:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ base_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ Mass Properties:
+ Inertia: false
+ Mass: false
+ Name: RobotModel
+ TF Prefix: ""
+ Update Interval: 0
+ Value: true
+ Visual Enabled: true
+ - Class: rviz_default_plugins/TF
+ Enabled: true
+ Frame Timeout: 15
+ Frames:
+ All Enabled: true
+ arm1:
+ Value: true
+ arm2:
+ Value: true
+ arm3:
+ Value: true
+ base_link:
+ Value: true
+ Marker Scale: 1
+ Name: TF
+ Show Arrows: true
+ Show Axes: true
+ Show Names: false
+ Tree:
+ base_link:
+ arm1:
+ arm2:
+ arm3:
+ {}
+ Update Interval: 0
+ Value: true
+ Enabled: true
+ Global Options:
+ Background Color: 48; 48; 48
+ Fixed Frame: base_link
+ Frame Rate: 30
+ Name: root
+ Tools:
+ - Class: rviz_default_plugins/Interact
+ Hide Inactive Objects: true
+ - Class: rviz_default_plugins/MoveCamera
+ - Class: rviz_default_plugins/Select
+ - Class: rviz_default_plugins/FocusCamera
+ - Class: rviz_default_plugins/Measure
+ Line color: 128; 128; 0
+ - Class: rviz_default_plugins/SetInitialPose
+ Covariance x: 0.25
+ Covariance y: 0.25
+ Covariance yaw: 0.06853891909122467
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /initialpose
+ - Class: rviz_default_plugins/SetGoal
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /goal_pose
+ - Class: rviz_default_plugins/PublishPoint
+ Single click: true
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /clicked_point
+ Transformation:
+ Current:
+ Class: rviz_default_plugins/TF
+ Value: true
+ Views:
+ Current:
+ Class: rviz_default_plugins/Orbit
+ Distance: 1.8436399698257446
+ Enable Stereo Rendering:
+ Stereo Eye Separation: 0.05999999865889549
+ Stereo Focal Distance: 1
+ Swap Stereo Eyes: false
+ Value: false
+ Focal Point:
+ X: 0
+ Y: 0
+ Z: 0
+ Focal Shape Fixed Size: true
+ Focal Shape Size: 0.05000000074505806
+ Invert Z Axis: false
+ Name: Current View
+ Near Clip Distance: 0.009999999776482582
+ Pitch: 0.6997970938682556
+ Target Frame: <Fixed Frame>
+ Value: Orbit (rviz)
+ Yaw: 1.5303975343704224
+ Saved: ~
+Window Geometry:
+ Displays:
+ collapsed: false
+ Height: 846
+ Hide Left Dock: false
+ Hide Right Dock: false
+ QMainWindow State: 000000ff00000000fd0000000400000000000001f70000024cfc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b000000b000fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000006e0000024c0000018200fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000015f0000024cfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000006e0000024c0000013200fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000005810000005afc0100000002fb0000000800540069006d00650100000000000005810000058100fffffffb0000000800540069006d00650100000000000004500000000000000000000002130000024c00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+ Selection:
+ collapsed: false
+ Time:
+ collapsed: false
+ Tool Properties:
+ collapsed: false
+ Views:
+ collapsed: false
+ Width: 1409
+ X: 965
+ Y: 227
diff --git a/ros2_ws/src/simple_robot_1dof/setup.py b/ros2_ws/src/simple_robot_1dof/setup.py
index 193051f60cac3dafba068325cb54e0423ccc79a5..dee6002c5e4a68aa17ccc99b18725e77ce6e450d 100644
--- a/ros2_ws/src/simple_robot_1dof/setup.py
+++ b/ros2_ws/src/simple_robot_1dof/setup.py
@@ -14,7 +14,9 @@ setup(
('share/' + package_name, ['package.xml']),
('share/' + package_name + '/launch', ['launch/kuka_rviz_simulation_1dof_launch.py']),
('share/' + package_name + '/rviz', ['rviz/forward_kinematics_simulations.rviz']),
- (os.path.join('share', package_name, 'launch'), glob(os.path.join('launch', '*launch.[pxy][yma]*')))
+ (os.path.join('share', package_name, 'urdf'), glob('urdf/*.urdf')),
+ (os.path.join('share', package_name, 'launch'), glob(os.path.join('launch', '*launch.[pxy][yma]*'))),
+ # (os.path.join('share', package_name), glob('urdf/*')),
],
install_requires=['setuptools'],
zip_safe=True,
diff --git a/ros2_ws/src/simple_robot_1dof/simple_robot_1dof/forward_kinematics_node_1dof.py b/ros2_ws/src/simple_robot_1dof/simple_robot_1dof/forward_kinematics_node_1dof.py
index b36b3e8a6bd10fc43d399e03947cedb59acff3c1..3ac27f8326a014810fe1747dfcd2084d3bc12766 100644
--- a/ros2_ws/src/simple_robot_1dof/simple_robot_1dof/forward_kinematics_node_1dof.py
+++ b/ros2_ws/src/simple_robot_1dof/simple_robot_1dof/forward_kinematics_node_1dof.py
@@ -84,6 +84,7 @@ class Forward_Kinematics_Node_1Dof(Node):
start_forward_kinematics = FKinBody(self.M, self.Blist, self.joint_angles)
start_position = start_forward_kinematics[:4 ,3]
+ self.get_logger().info('Start "%s"' %start_position)
start_orientation = Rotation.from_matrix(start_forward_kinematics[:3, :3]).as_quat()
end_forward_kinematics = np.matmul(intermediate_rotation, start_forward_kinematics)
diff --git a/ros2_ws/src/simple_robot_1dof/urdf/simple_robot.urdf b/ros2_ws/src/simple_robot_1dof/urdf/simple_robot.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..3e53eaf6d99dcbc23ed63f8e5ae9867020fd0968
--- /dev/null
+++ b/ros2_ws/src/simple_robot_1dof/urdf/simple_robot.urdf
@@ -0,0 +1,81 @@
+<?xml version="1.0"?>
+<robot name="simple_robot" xmlns:xacro="http://www.ros.org/wiki/xacro">
+
+ <link name="map">
+ <origin rpy="0 0 0" xyz="0 0 0" />
+ <visual>
+ <geometry>
+ <box size="0.1 0.1 0.1"/>
+ </geometry>
+ <material name="grey">
+ <color rgba="0.5 0.5 0.5 1"/>
+ </material>
+ </visual>
+ </link>
+
+ <link name="arm1">
+ <visual>
+ <origin xyz="0 0 0.355" rpy="0 0 0"/>
+ <geometry>
+ <cylinder length="0.71" radius="0.02"/>
+ </geometry>
+ <material name="red">
+ <color rgba="1.0 0.0 0.0 1"/>
+ </material>
+ </visual>
+ </link>
+
+ <joint name="joint1" type="revolute">
+ <parent link="map"/>
+ <child link="arm1"/>
+ <origin xyz="0 0 0.05"/>
+ <axis xyz="0 0 1"/>
+ <limit effort = "300" lower="-2.96705972839" upper="2.96705972839" velocity = "10" />
+ </joint>
+
+ <link name="arm2">
+ <visual>
+ <origin xyz="-0.15 0 0" rpy="0 -1.5707 0"/>
+ <geometry>
+ <cylinder length="0.3" radius="0.02"/>
+ </geometry>
+ <material name="green">
+ <color rgba="0.0 1.0 0.0 1"/>
+ </material>
+ </visual>
+ </link>
+
+ <joint name="joint2" type="revolute">
+ <parent link="arm1"/>
+ <child link="arm2"/>
+ <origin xyz="0 0 0.71"/>
+ <axis xyz="1 0 0"/>
+ <limit effort = "300" lower="-2.96705972839" upper="2.96705972839" velocity = "10" />
+ </joint>
+
+ <link name="arm3">
+ <visual>
+ <origin xyz="-0.15 0 0" rpy="0 -1.5707 0"/>
+ <geometry>
+ <cylinder length="0.3" radius="0.02"/>
+ </geometry>
+ <material name="blue">
+ <color rgba="0.0 0.0 1.0 1"/>
+ </material>
+ </visual>
+ </link>
+
+ <joint name="joint3" type="revolute">
+ <parent link="arm2"/>
+ <child link="arm3"/>
+ <origin xyz="-0.3 0 0"/>
+ <axis xyz="1 0 0"/>
+ <limit effort = "300" lower="-2.96705972839" upper="2.96705972839" velocity = "10" />
+ </joint>
+
+
+</robot>
+
+
+
+