From 8d647e6db7f9fc7fd58b45a7669adb4b1022bf01 Mon Sep 17 00:00:00 2001
From: Ventsi <uquzq@student.kit.edu>
Date: Mon, 28 Oct 2024 11:26:37 +0100
Subject: [PATCH] Change names for better understanding and remove inverse of
simple robot
---
.../__pycache__/iiwa.launch.cpython-310.pyc | Bin 6485 -> 6485 bytes
.../config/initial_positions_IRS_Lab.yaml | 11 +-
...imple_robot_rviz_simulation_1dof_launch.py | 18 +-
...ions.rviz => simple_robot_simulation.rviz} | 0
ros2_ws/src/simple_robot_1dof/setup.py | 4 +-
.../simple_robot_1dof/reference_node_1dof.py | 11 +-
...de_1dof.py => transformation_node_1dof.py} | 43 ++--
...imple_robot_rviz_simulation_2dof_launch.py | 32 +--
...ions.rviz => simple_robot_simulation.rviz} | 0
ros2_ws/src/simple_robot_2dof/setup.py | 6 +-
... transformation_node_2dof_simultaneous.py} | 0
...=> transformation_node_2dof_successive.py} | 0
...imple_robot_rviz_simulation_3dof_launch.py | 25 +--
...ions.rviz => simple_robot_simulation.rviz} | 0
ros2_ws/src/simple_robot_3dof/setup.py | 7 +-
... transformation_node_3dof_simultaneous.py} | 2 -
...=> transformation_node_3dof_successive.py} | 0
.../simple_robot_inverse_kinematik/LICENSE | 202 ------------------
.../package.xml | 41 ----
.../resource/simple_robot_inverse_kinematik | 0
.../simple_robot_inverse_kinematik/setup.cfg | 4 -
.../simple_robot_inverse_kinematik/setup.py | 26 ---
.../__init__.py | 0
.../inverse_kinematik.py | 75 -------
.../test/test_copyright.py | 25 ---
.../test/test_flake8.py | 25 ---
.../test/test_pep257.py | 23 --
27 files changed, 64 insertions(+), 516 deletions(-)
rename ros2_ws/src/simple_robot_1dof/rviz/{forward_kinematics_simulations.rviz => simple_robot_simulation.rviz} (100%)
rename ros2_ws/src/simple_robot_1dof/simple_robot_1dof/{forward_kinematics_node_1dof.py => transformation_node_1dof.py} (85%)
rename ros2_ws/src/simple_robot_2dof/rviz/{forward_kinematics_simulations.rviz => simple_robot_simulation.rviz} (100%)
rename ros2_ws/src/simple_robot_2dof/simple_robot_2dof/{forward_kinematics_node_2dof_1.py => transformation_node_2dof_simultaneous.py} (100%)
rename ros2_ws/src/simple_robot_2dof/simple_robot_2dof/{forward_kinematics_node_2dof_2.py => transformation_node_2dof_successive.py} (100%)
rename ros2_ws/src/simple_robot_3dof/rviz/{forward_kinematics_simulations.rviz => simple_robot_simulation.rviz} (100%)
rename ros2_ws/src/simple_robot_3dof/simple_robot_3dof/{forward_kinematics_node_3dof_1.py => transformation_node_3dof_simultaneous.py} (98%)
rename ros2_ws/src/simple_robot_3dof/simple_robot_3dof/{forward_kinematics_node_3dof_2.py => transformation_node_3dof_successive.py} (100%)
delete mode 100644 ros2_ws/src/simple_robot_inverse_kinematik/LICENSE
delete mode 100644 ros2_ws/src/simple_robot_inverse_kinematik/package.xml
delete mode 100644 ros2_ws/src/simple_robot_inverse_kinematik/resource/simple_robot_inverse_kinematik
delete mode 100644 ros2_ws/src/simple_robot_inverse_kinematik/setup.cfg
delete mode 100644 ros2_ws/src/simple_robot_inverse_kinematik/setup.py
delete mode 100644 ros2_ws/src/simple_robot_inverse_kinematik/simple_robot_inverse_kinematik/__init__.py
delete mode 100644 ros2_ws/src/simple_robot_inverse_kinematik/simple_robot_inverse_kinematik/inverse_kinematik.py
delete mode 100644 ros2_ws/src/simple_robot_inverse_kinematik/test/test_copyright.py
delete mode 100644 ros2_ws/src/simple_robot_inverse_kinematik/test/test_flake8.py
delete mode 100644 ros2_ws/src/simple_robot_inverse_kinematik/test/test_pep257.py
diff --git a/ros2_ws/src/iiwa/iiwa_bringup/launch/__pycache__/iiwa.launch.cpython-310.pyc b/ros2_ws/src/iiwa/iiwa_bringup/launch/__pycache__/iiwa.launch.cpython-310.pyc
index 4c1b605ea40d27a2054ae612367db50df44724be..2117a20787616705932d3d62525753ac79c5811b 100644
GIT binary patch
delta 21
ccmca=bk&F_pO=@5fq{Xcy;LrJBaf#f06;YbP5=M^
delta 21
ccmca=bk&F_pO=@5fq{V`ymNcnMjlT|07B9Q$^ZZW
diff --git a/ros2_ws/src/iiwa/iiwa_description/config/initial_positions_IRS_Lab.yaml b/ros2_ws/src/iiwa/iiwa_description/config/initial_positions_IRS_Lab.yaml
index f26e74a..157af1e 100644
--- a/ros2_ws/src/iiwa/iiwa_description/config/initial_positions_IRS_Lab.yaml
+++ b/ros2_ws/src/iiwa/iiwa_description/config/initial_positions_IRS_Lab.yaml
@@ -1,7 +1,7 @@
# Default initial positions for the panda arm's ros2_control fake system
initial_positions:
# Default initial positions for the panda arm's ros2_control fake system
-initial_positions:
+initial_positions:
joint_a1: 2.97923
joint_a2: 1.42580
joint_a3: 0.02157
@@ -10,12 +10,3 @@ initial_positions:
joint_a6: 1.72062
joint_a7: 0.01032
-
- #joint_a1: 2.97923
- #joint_a2: 1.42580
- #joint_a3: 0.02157
- #joint_a4: 1.64101
- #joint_a5: 0.14299
- #joint_a6: 1.72062
- #joint_a7: 0.01032
-
diff --git a/ros2_ws/src/simple_robot_1dof/launch/simple_robot_rviz_simulation_1dof_launch.py b/ros2_ws/src/simple_robot_1dof/launch/simple_robot_rviz_simulation_1dof_launch.py
index 8f91fe7..ebfc6d0 100644
--- a/ros2_ws/src/simple_robot_1dof/launch/simple_robot_rviz_simulation_1dof_launch.py
+++ b/ros2_ws/src/simple_robot_1dof/launch/simple_robot_rviz_simulation_1dof_launch.py
@@ -13,7 +13,7 @@ def generate_launch_description():
rviz_config_file = os.path.join(
get_package_share_directory(package_name),
'rviz',
- 'forward_kinematics_simulations.rviz'
+ 'simple_robot_simulation.rviz'
)
urdf_dir = os.path.join(get_package_share_directory(package_name), 'urdf')
@@ -62,10 +62,10 @@ def generate_launch_description():
constant_speed = LaunchConfiguration('constant_speed')
- forward_kinematics_node = Node(
+ transformation_node = Node(
package = package_name,
- executable = 'forward_kinematics_node_1dof',
- name = 'forward_kinematics_node',
+ executable = 'transformation_node_1dof',
+ name = 'transformation_node',
output = 'screen',
parameters = []
)
@@ -96,27 +96,19 @@ def generate_launch_description():
output='screen',
parameters = []
)
- simple_robot_inverse_kinematics_node = Node(
- package='simple_robot_inverse_kinematik',
- executable='simple_robot_inverse_kinematik',
- name='simple_robot_inverse_kinematik',
- parameters=[]
- )
robot_state_publisher = Node(
package='robot_state_publisher',
executable='robot_state_publisher',
output='both',
parameters=[
- # {'robot_description': combined_robot_desc},
{'robot_description': robot_desc},
]
)
nodes = [
- forward_kinematics_node,
+ transformation_node,
reference_node,
rviz_node,
kuka_inverse_kinematics_node,
- simple_robot_inverse_kinematics_node,
robot_state_publisher,
]
diff --git a/ros2_ws/src/simple_robot_1dof/rviz/forward_kinematics_simulations.rviz b/ros2_ws/src/simple_robot_1dof/rviz/simple_robot_simulation.rviz
similarity index 100%
rename from ros2_ws/src/simple_robot_1dof/rviz/forward_kinematics_simulations.rviz
rename to ros2_ws/src/simple_robot_1dof/rviz/simple_robot_simulation.rviz
diff --git a/ros2_ws/src/simple_robot_1dof/setup.py b/ros2_ws/src/simple_robot_1dof/setup.py
index b8d38ed..31af5a6 100644
--- a/ros2_ws/src/simple_robot_1dof/setup.py
+++ b/ros2_ws/src/simple_robot_1dof/setup.py
@@ -13,7 +13,7 @@ setup(
['resource/' + package_name]),
('share/' + package_name, ['package.xml']),
('share/' + package_name + '/launch', ['launch/simple_robot_rviz_simulation_1dof_launch.py']),
- ('share/' + package_name + '/rviz', ['rviz/forward_kinematics_simulations.rviz']),
+ ('share/' + package_name + '/rviz', ['rviz/simple_robot_simulation.rviz']),
(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]*'))),
],
@@ -26,7 +26,7 @@ setup(
tests_require=['pytest'],
entry_points={
'console_scripts': [
- 'forward_kinematics_node_1dof = simple_robot_1dof.forward_kinematics_node_1dof:main',
+ 'transformation_node_1dof = simple_robot_1dof.transformation_node_1dof:main',
'reference_node_1dof = simple_robot_1dof.reference_node_1dof:main',
],
},
diff --git a/ros2_ws/src/simple_robot_1dof/simple_robot_1dof/reference_node_1dof.py b/ros2_ws/src/simple_robot_1dof/simple_robot_1dof/reference_node_1dof.py
index a041859..ae2fae9 100644
--- a/ros2_ws/src/simple_robot_1dof/simple_robot_1dof/reference_node_1dof.py
+++ b/ros2_ws/src/simple_robot_1dof/simple_robot_1dof/reference_node_1dof.py
@@ -2,8 +2,6 @@ import rclpy
from rclpy.node import Node
import numpy as np
from std_msgs.msg import Float64
-from geometry_msgs.msg import Point, PoseStamped
-import time
class Reference_Node_1DoF(Node):
@@ -27,12 +25,15 @@ class Reference_Node_1DoF(Node):
self.velocity_constant = self.get_parameter('velocity_constant').get_parameter_value().double_value
self.constant_speed = self.get_parameter('constant_speed').get_parameter_value().bool_value
- self.index = 0
+ # min. and max. values of parameter k
self.k_start = 0.0
self.k_end = 1.0
self.k = self.k_start
+ # variable for the velocity
self.current_velocity = 0.0
+ # faktor for the decelaration phase
self.faktor = 1.3
+ # timer period and timer
self.timer_period = 0.1 # seconds
self.timer = self.create_timer(self.timer_period, self.ref_point_publisher)
# List the points
@@ -63,10 +64,10 @@ class Reference_Node_1DoF(Node):
self.k = self.k + self.current_velocity
#setting back to 0
- if self.k>self.k_end:
+ if self.k > self.k_end:
self.k = self.k_start
self.current_velocity = 0.0
- self.index += 1
+
msg.data = self.k
self.publisher_.publish(msg)
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/transformation_node_1dof.py
similarity index 85%
rename from ros2_ws/src/simple_robot_1dof/simple_robot_1dof/forward_kinematics_node_1dof.py
rename to ros2_ws/src/simple_robot_1dof/simple_robot_1dof/transformation_node_1dof.py
index fb4e211..97c36ca 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/transformation_node_1dof.py
@@ -10,14 +10,16 @@ from std_msgs.msg import Float64
from nav_msgs.msg import Path
from geometry_msgs.msg import PoseStamped
from geometry_msgs.msg import Pose
+from sensor_msgs.msg import JointState
from visualization_msgs.msg import Marker
from scipy.spatial.transform import Rotation
+from rclpy.clock import Clock
-class Forward_Kinematics_Node_1Dof(Node):
+class Transformation_Node_1Dof(Node):
def __init__(self):
- super().__init__('forward_kinematics_node_1dof')
+ super().__init__('transformation_node_1dof')
self.subscription = self.create_subscription(
Float64,
'/dof1/reference_angles',
@@ -47,7 +49,7 @@ class Forward_Kinematics_Node_1Dof(Node):
# publishers
self.path_publisher_ = self.create_publisher(Path, '/simple_robot/visualization_path', 10)
self.point_publisher_ = self.create_publisher(Marker, '/simple_robot/visualization_marker', 10)
- self.pose_publisher_simple_robot_ = self.create_publisher(Pose, '/simple_robot/target_pose', 10)
+ self.joint_state_publisher_simple_robot_ = self.create_publisher(JointState, '/joint_states', 10)
self.pose_publisher_kuka_robot_ = self.create_publisher(Pose, '/kuka_iiwa/target_pose', 10)
self.velocity_pub = self.create_publisher(Float64, '/velocity', 10)
@@ -91,9 +93,10 @@ class Forward_Kinematics_Node_1Dof(Node):
end_forward_kinematics_simple = np.matmul(self.intermediate_rotation, start_forward_kinematics_simple)
# get the desired position and orientation
end_position_simple = end_forward_kinematics_simple[:4, 3]
- end_orientation_simple = Rotation.from_matrix(end_forward_kinematics_simple[:3, :3]).as_quat()
- # call the funct. publishing the desired pose
- self.publish_pose_simple_robot(end_position_simple, end_orientation_simple)
+
+ # call the function updating the state of simple robot
+ self.publish_joint_states_simple_robot()
+
# construct path
self.construct_path(end_position_simple)
@@ -160,18 +163,24 @@ class Forward_Kinematics_Node_1Dof(Node):
self.point_publisher_.publish(marker)
- def publish_pose_simple_robot(self, vector, quaternion):
- pose_msg_sr = Pose()
- pose_msg_sr.position.x = vector[0]
- pose_msg_sr.position.y = vector[1]
- pose_msg_sr.position.z = vector[2]
- pose_msg_sr.orientation.x = quaternion[0]
- pose_msg_sr.orientation.y = quaternion[1]
- pose_msg_sr.orientation.z = quaternion[2]
- pose_msg_sr.orientation.w = quaternion[3]
- self.pose_publisher_simple_robot_.publish(pose_msg_sr)
+ def publish_joint_states_simple_robot(self):
+ # instead of publishing a pose, we publish the states of the joint of simple robot directly
+ # because they are identical to the parameters theta, h, d
+ joint_names = ['joint1']
+ joint_states = [0.0]
+ joint_states[0] = self.theta_fraction
+
+ joint_state_msg = JointState()
+ joint_state_msg.header.stamp = Clock().now().to_msg()
+
+ joint_state_msg.name = joint_names
+ joint_state_msg.position = joint_states
+
+ self.joint_state_publisher_simple_robot_.publish(joint_state_msg)
+
def publish_pose_kuka_pose(self, vector, quaternion):
+ # publish the pose of the KUKA robot
pose_msg = Pose()
pose_msg.position.x = vector[0]
pose_msg.position.y = vector[1]
@@ -185,7 +194,7 @@ class Forward_Kinematics_Node_1Dof(Node):
def main(args = None):
rclpy.init(args = args)
- node = Forward_Kinematics_Node_1Dof()
+ node = Transformation_Node_1Dof()
rclpy.spin(node)
node.destroy_node()
rclpy.shutdown()
diff --git a/ros2_ws/src/simple_robot_2dof/launch/simple_robot_rviz_simulation_2dof_launch.py b/ros2_ws/src/simple_robot_2dof/launch/simple_robot_rviz_simulation_2dof_launch.py
index 3b122d4..7db61e6 100644
--- a/ros2_ws/src/simple_robot_2dof/launch/simple_robot_rviz_simulation_2dof_launch.py
+++ b/ros2_ws/src/simple_robot_2dof/launch/simple_robot_rviz_simulation_2dof_launch.py
@@ -13,7 +13,7 @@ def generate_launch_description():
rviz_config_file = os.path.join(
get_package_share_directory(package_name),
'rviz',
- 'forward_kinematics_simulations.rviz'
+ 'simple_robot_simulation.rviz'
)
urdf_dir = os.path.join(get_package_share_directory(package_name), 'urdf')
@@ -66,18 +66,18 @@ def generate_launch_description():
simultaneous = LaunchConfiguration('simultaneous')
constant_speed = LaunchConfiguration('constant_speed')
- forward_kinematics_node_1 = Node(
+ tranformation_node_sim = Node(
package = package_name,
- executable = 'forward_kinematics_node_2dof_1',
- name = 'forward_kinematics_node',
+ executable = 'transformation_node_2dof_sim',
+ name = 'transformation_node',
output = 'screen',
parameters = [],
condition = IfCondition(simultaneous)
)
- forward_kinematics_node_2 = Node(
+ tranformation_node_suc = Node(
package = package_name,
- executable = 'forward_kinematics_node_2dof_2',
- name = 'forward_kinematics_node',
+ executable = 'transformation_node_2dof_suc',
+ name = 'transformation_node',
output = 'screen',
parameters = [],
condition = UnlessCondition(simultaneous)
@@ -110,12 +110,6 @@ def generate_launch_description():
output='screen',
parameters = []
)
- simple_robot_inverse_kinematics_node = Node(
- package='simple_robot_inverse_kinematik',
- executable='simple_robot_inverse_kinematik',
- name='simple_robot_inverse_kinematik',
- parameters=[]
- )
robot_state_publisher = Node(
package='robot_state_publisher',
executable='robot_state_publisher',
@@ -124,21 +118,13 @@ def generate_launch_description():
{'robot_description': robot_desc}
]
)
- 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_1,
- forward_kinematics_node_2,
+ tranformation_node_sim,
+ tranformation_node_suc,
reference_node,
rviz_node,
inverse_kinematic_node,
- # joint_state_publisher_gui,
- # simple_robot_inverse_kinematics_node,
robot_state_publisher
]
diff --git a/ros2_ws/src/simple_robot_2dof/rviz/forward_kinematics_simulations.rviz b/ros2_ws/src/simple_robot_2dof/rviz/simple_robot_simulation.rviz
similarity index 100%
rename from ros2_ws/src/simple_robot_2dof/rviz/forward_kinematics_simulations.rviz
rename to ros2_ws/src/simple_robot_2dof/rviz/simple_robot_simulation.rviz
diff --git a/ros2_ws/src/simple_robot_2dof/setup.py b/ros2_ws/src/simple_robot_2dof/setup.py
index bc62b9d..ec23714 100644
--- a/ros2_ws/src/simple_robot_2dof/setup.py
+++ b/ros2_ws/src/simple_robot_2dof/setup.py
@@ -14,7 +14,7 @@ setup(
['resource/' + package_name]),
('share/' + package_name, ['package.xml']),
('share/' + package_name + '/launch', ['launch/simple_robot_rviz_simulation_2dof_launch.py']),
- ('share/' + package_name + '/rviz', ['rviz/forward_kinematics_simulations.rviz']),
+ ('share/' + package_name + '/rviz', ['rviz/simple_robot_simulation.rviz']),
(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]*'))),
@@ -29,8 +29,8 @@ setup(
tests_require=['pytest'],
entry_points={
'console_scripts': [
- 'forward_kinematics_node_2dof_1 = simple_robot_2dof.forward_kinematics_node_2dof_1:main',
- 'forward_kinematics_node_2dof_2 = simple_robot_2dof.forward_kinematics_node_2dof_2:main',
+ 'transformation_node_2dof_sim = simple_robot_2dof.transformation_node_2dof_simultaneous:main',
+ 'transformation_node_2dof_suc = simple_robot_2dof.transformation_node_2dof_successive:main',
'reference_node_2dof = simple_robot_2dof.reference_node_2dof:main',
],
},
diff --git a/ros2_ws/src/simple_robot_2dof/simple_robot_2dof/forward_kinematics_node_2dof_1.py b/ros2_ws/src/simple_robot_2dof/simple_robot_2dof/transformation_node_2dof_simultaneous.py
similarity index 100%
rename from ros2_ws/src/simple_robot_2dof/simple_robot_2dof/forward_kinematics_node_2dof_1.py
rename to ros2_ws/src/simple_robot_2dof/simple_robot_2dof/transformation_node_2dof_simultaneous.py
diff --git a/ros2_ws/src/simple_robot_2dof/simple_robot_2dof/forward_kinematics_node_2dof_2.py b/ros2_ws/src/simple_robot_2dof/simple_robot_2dof/transformation_node_2dof_successive.py
similarity index 100%
rename from ros2_ws/src/simple_robot_2dof/simple_robot_2dof/forward_kinematics_node_2dof_2.py
rename to ros2_ws/src/simple_robot_2dof/simple_robot_2dof/transformation_node_2dof_successive.py
diff --git a/ros2_ws/src/simple_robot_3dof/launch/simple_robot_rviz_simulation_3dof_launch.py b/ros2_ws/src/simple_robot_3dof/launch/simple_robot_rviz_simulation_3dof_launch.py
index 7ccd1b0..cc642d0 100644
--- a/ros2_ws/src/simple_robot_3dof/launch/simple_robot_rviz_simulation_3dof_launch.py
+++ b/ros2_ws/src/simple_robot_3dof/launch/simple_robot_rviz_simulation_3dof_launch.py
@@ -13,7 +13,7 @@ def generate_launch_description():
rviz_config_file = os.path.join(
get_package_share_directory(package_name),
'rviz',
- 'forward_kinematics_simulations.rviz'
+ 'simple_robot_simulation.rviz'
)
urdf_dir = os.path.join(get_package_share_directory(package_name), 'urdf')
@@ -66,18 +66,18 @@ def generate_launch_description():
simultaneous = LaunchConfiguration('simultaneous')
constant_speed = LaunchConfiguration('constant_speed')
- forward_kinematics_node_1 = Node(
+ transformation_node_sim = Node(
package = package_name,
- executable = 'forward_kinematics_node_3dof_1',
- name = 'forward_kinematics_node',
+ executable = 'transformation_node_3dof_sim',
+ name = 'transformation_node',
output = 'screen',
parameters = [],
condition = IfCondition(simultaneous)
)
- forward_kinematics_node_2 = Node(
+ transformation_node_suc = Node(
package = package_name,
- executable = 'forward_kinematics_node_3dof_2',
- name = 'forward_kinematics_node',
+ executable = 'transformation_node_3dof_suc',
+ name = 'transformation_node',
output = 'screen',
parameters = [],
condition = UnlessCondition(simultaneous)
@@ -118,21 +118,14 @@ def generate_launch_description():
{'robot_description': robot_desc}
]
)
- 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_1,
- forward_kinematics_node_2,
+ transformation_node_sim,
+ transformation_node_suc,
reference_node,
rviz_node,
inverse_kinematics_node,
robot_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_3dof/rviz/forward_kinematics_simulations.rviz b/ros2_ws/src/simple_robot_3dof/rviz/simple_robot_simulation.rviz
similarity index 100%
rename from ros2_ws/src/simple_robot_3dof/rviz/forward_kinematics_simulations.rviz
rename to ros2_ws/src/simple_robot_3dof/rviz/simple_robot_simulation.rviz
diff --git a/ros2_ws/src/simple_robot_3dof/setup.py b/ros2_ws/src/simple_robot_3dof/setup.py
index 0b173fd..6d78464 100644
--- a/ros2_ws/src/simple_robot_3dof/setup.py
+++ b/ros2_ws/src/simple_robot_3dof/setup.py
@@ -13,7 +13,7 @@ setup(
['resource/' + package_name]),
('share/' + package_name, ['package.xml']),
('share/' + package_name + '/launch', ['launch/simple_robot_rviz_simulation_3dof_launch.py']),
- ('share/' + package_name + '/rviz', ['rviz/forward_kinematics_simulations.rviz']),
+ ('share/' + package_name + '/rviz', ['rviz/simple_robot_simulation.rviz']),
(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]*'))),
],
@@ -26,9 +26,8 @@ setup(
tests_require=['pytest'],
entry_points={
'console_scripts': [
- 'forward_kinematics_node_3dof_1 = simple_robot_3dof.forward_kinematics_node_3dof_1:main',
- 'forward_kinematics_node_3dof_2 = simple_robot_3dof.forward_kinematics_node_3dof_2:main',
- 'forward_kinematics_node_3dof_3 = simple_robot_3dof.forward_kinematics_node_3dof_3:main',
+ 'transformation_node_3dof_sim = simple_robot_3dof.transformation_node_3dof_simultaneous:main',
+ 'transformation_node_3dof_suc = simple_robot_3dof.transformation_node_3dof_successive:main',
'reference_node_3dof = simple_robot_3dof.reference_node_3dof:main',
],
},
diff --git a/ros2_ws/src/simple_robot_3dof/simple_robot_3dof/forward_kinematics_node_3dof_1.py b/ros2_ws/src/simple_robot_3dof/simple_robot_3dof/transformation_node_3dof_simultaneous.py
similarity index 98%
rename from ros2_ws/src/simple_robot_3dof/simple_robot_3dof/forward_kinematics_node_3dof_1.py
rename to ros2_ws/src/simple_robot_3dof/simple_robot_3dof/transformation_node_3dof_simultaneous.py
index 82c3b7c..e5a6617 100644
--- a/ros2_ws/src/simple_robot_3dof/simple_robot_3dof/forward_kinematics_node_3dof_1.py
+++ b/ros2_ws/src/simple_robot_3dof/simple_robot_3dof/transformation_node_3dof_simultaneous.py
@@ -9,9 +9,7 @@ import numpy as np
from std_msgs.msg import Float64
from nav_msgs.msg import Path
from sensor_msgs.msg import JointState
-from geometry_msgs.msg import PoseStamped
from geometry_msgs.msg import Pose
-from visualization_msgs.msg import Marker
from scipy.spatial.transform import Rotation
from rclpy.clock import Clock
diff --git a/ros2_ws/src/simple_robot_3dof/simple_robot_3dof/forward_kinematics_node_3dof_2.py b/ros2_ws/src/simple_robot_3dof/simple_robot_3dof/transformation_node_3dof_successive.py
similarity index 100%
rename from ros2_ws/src/simple_robot_3dof/simple_robot_3dof/forward_kinematics_node_3dof_2.py
rename to ros2_ws/src/simple_robot_3dof/simple_robot_3dof/transformation_node_3dof_successive.py
diff --git a/ros2_ws/src/simple_robot_inverse_kinematik/LICENSE b/ros2_ws/src/simple_robot_inverse_kinematik/LICENSE
deleted file mode 100644
index d645695..0000000
--- a/ros2_ws/src/simple_robot_inverse_kinematik/LICENSE
+++ /dev/null
@@ -1,202 +0,0 @@
-
- Apache License
- Version 2.0, January 2004
- http://www.apache.org/licenses/
-
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- boilerplate notice, with the fields enclosed by brackets "[]"
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- you may not use this file except in compliance with the License.
- You may obtain a copy of the License at
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- http://www.apache.org/licenses/LICENSE-2.0
-
- Unless required by applicable law or agreed to in writing, software
- distributed under the License is distributed on an "AS IS" BASIS,
- WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- See the License for the specific language governing permissions and
- limitations under the License.
diff --git a/ros2_ws/src/simple_robot_inverse_kinematik/package.xml b/ros2_ws/src/simple_robot_inverse_kinematik/package.xml
deleted file mode 100644
index da002a7..0000000
--- a/ros2_ws/src/simple_robot_inverse_kinematik/package.xml
+++ /dev/null
@@ -1,41 +0,0 @@
-<?xml version="1.0"?>
-<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
-<package format="3">
- <name>simple_robot_inverse_kinematik</name>
- <version>0.0.0</version>
- <description>TODO: Package description</description>
- <maintainer email="uquzq@student.kit.edu">ventsi</maintainer>
- <license>Apache-2.0</license>
-
- <test_depend>ament_copyright</test_depend>
- <test_depend>ament_flake8</test_depend>
- <test_depend>ament_pep257</test_depend>
- <test_depend>python3-pytest</test_depend>
-
-
- <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>
- <test_depend>python3-pytest</test_depend>
-
- <export>
- <build_type>ament_python</build_type>
- </export>
-</package>
diff --git a/ros2_ws/src/simple_robot_inverse_kinematik/resource/simple_robot_inverse_kinematik b/ros2_ws/src/simple_robot_inverse_kinematik/resource/simple_robot_inverse_kinematik
deleted file mode 100644
index e69de29..0000000
diff --git a/ros2_ws/src/simple_robot_inverse_kinematik/setup.cfg b/ros2_ws/src/simple_robot_inverse_kinematik/setup.cfg
deleted file mode 100644
index 1682a5a..0000000
--- a/ros2_ws/src/simple_robot_inverse_kinematik/setup.cfg
+++ /dev/null
@@ -1,4 +0,0 @@
-[develop]
-script_dir=$base/lib/simple_robot_inverse_kinematik
-[install]
-install_scripts=$base/lib/simple_robot_inverse_kinematik
diff --git a/ros2_ws/src/simple_robot_inverse_kinematik/setup.py b/ros2_ws/src/simple_robot_inverse_kinematik/setup.py
deleted file mode 100644
index ae80ba4..0000000
--- a/ros2_ws/src/simple_robot_inverse_kinematik/setup.py
+++ /dev/null
@@ -1,26 +0,0 @@
-from setuptools import find_packages, setup
-
-package_name = 'simple_robot_inverse_kinematik'
-
-setup(
- name=package_name,
- version='0.0.0',
- packages=find_packages(exclude=['test']),
- data_files=[
- ('share/ament_index/resource_index/packages',
- ['resource/' + package_name]),
- ('share/' + package_name, ['package.xml']),
- ],
- install_requires=['setuptools'],
- zip_safe=True,
- maintainer='ventsi',
- maintainer_email='uquzq@student.kit.edu',
- description='TODO: Package description',
- license='Apache-2.0',
- tests_require=['pytest'],
- entry_points={
- 'console_scripts': [
- 'simple_robot_inverse_kinematik = simple_robot_inverse_kinematik.inverse_kinematik:main',
- ],
- },
-)
diff --git a/ros2_ws/src/simple_robot_inverse_kinematik/simple_robot_inverse_kinematik/__init__.py b/ros2_ws/src/simple_robot_inverse_kinematik/simple_robot_inverse_kinematik/__init__.py
deleted file mode 100644
index e69de29..0000000
diff --git a/ros2_ws/src/simple_robot_inverse_kinematik/simple_robot_inverse_kinematik/inverse_kinematik.py b/ros2_ws/src/simple_robot_inverse_kinematik/simple_robot_inverse_kinematik/inverse_kinematik.py
deleted file mode 100644
index f459080..0000000
--- a/ros2_ws/src/simple_robot_inverse_kinematik/simple_robot_inverse_kinematik/inverse_kinematik.py
+++ /dev/null
@@ -1,75 +0,0 @@
-import os
-
-import rclpy
-from rclpy.node import Node
-from geometry_msgs.msg import Pose
-from sensor_msgs.msg import JointState
-from modern_robotics import IKinBody, RpToTrans, FKinBody, IKinSpace
-import numpy as np
-from ament_index_python.packages import get_package_share_directory
-from mr_urdf_loader import loadURDF
-from scipy.spatial.transform import Rotation
-from rclpy.clock import Clock
-
-class InverseKinematicsSimpleRobot(Node):
- def __init__(self):
- super().__init__('inverse_kinematics_simple_robot')
- self.subscription = self.create_subscription(
- Pose,
- '/simple_robot/target_pose',
- self.pose_callback,
- 10)
- self.publisher = self.create_publisher(JointState, '/joint_states', 10)
-
- urdf_file_path = os.path.join(
- get_package_share_directory('simple_robot_1dof'), 'urdf', 'simple_robot.urdf')
- self.get_logger().info(f'Loading URDF from: {urdf_file_path}')
- self.simple_robot = loadURDF(urdf_file_path)
-
- self.M = self.simple_robot["M"]
- self.Slist = self.simple_robot["Slist"]
- self.Mlist = self.simple_robot["Mlist"]
- self.Glist = self.simple_robot["Glist"]
- self.Blist = self.simple_robot["Blist"]
-
-
- self.joint_names = [f'joint{i+1}' for i in range(len(self.Slist[0]))]
-
- self.joint_angles = np.zeros(len(self.Slist[0]))
-
- T = FKinBody(self.M, self.Blist, self.joint_angles)
- rotation_matrix = T[:3, :3]
- quat = Rotation.from_matrix(rotation_matrix).as_quat()
- position = T[:3, 3]
- self.get_logger().info('T: "%s":' %T)
-
- def pose_callback(self, pose: Pose):
- quat = [pose.orientation.x, pose.orientation.y, pose.orientation.z, pose.orientation.w]
- r = Rotation.from_quat(quat)
- rotation_matrix = r.as_matrix()
- T_sd = RpToTrans(rotation_matrix, np.array([pose.position.x, pose.position.y, pose.position.z]))
- eomg = 1e-4 # Fehlergrenze für Winkel
- ev = 1e-4 # Fehlergrenze für Translation
-
- joint_angles, success = IKinBody(self.Blist, self.M, T_sd, self.joint_angles, eomg, ev)
-
- if success:
- joint_state_msg = JointState()
- joint_state_msg.header.stamp = Clock().now().to_msg()
- joint_state_msg.name = self.joint_names
- joint_state_msg.position = joint_angles.tolist()
-
- self.publisher.publish(joint_state_msg)
- else:
- self.get_logger().error("Inverse Kinematics failed to find a solution.")
-
-
-def main(args=None):
- rclpy.init(args=args)
- node = InverseKinematicsSimpleRobot()
- rclpy.spin(node)
- node.destroy_node()
- rclpy.shutdown()
-
-if __name__ == '__main__':
- main()
\ No newline at end of file
diff --git a/ros2_ws/src/simple_robot_inverse_kinematik/test/test_copyright.py b/ros2_ws/src/simple_robot_inverse_kinematik/test/test_copyright.py
deleted file mode 100644
index 97a3919..0000000
--- a/ros2_ws/src/simple_robot_inverse_kinematik/test/test_copyright.py
+++ /dev/null
@@ -1,25 +0,0 @@
-# Copyright 2015 Open Source Robotics Foundation, Inc.
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-# http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-from ament_copyright.main import main
-import pytest
-
-
-# Remove the `skip` decorator once the source file(s) have a copyright header
-@pytest.mark.skip(reason='No copyright header has been placed in the generated source file.')
-@pytest.mark.copyright
-@pytest.mark.linter
-def test_copyright():
- rc = main(argv=['.', 'test'])
- assert rc == 0, 'Found errors'
diff --git a/ros2_ws/src/simple_robot_inverse_kinematik/test/test_flake8.py b/ros2_ws/src/simple_robot_inverse_kinematik/test/test_flake8.py
deleted file mode 100644
index 27ee107..0000000
--- a/ros2_ws/src/simple_robot_inverse_kinematik/test/test_flake8.py
+++ /dev/null
@@ -1,25 +0,0 @@
-# Copyright 2017 Open Source Robotics Foundation, Inc.
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-# http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-from ament_flake8.main import main_with_errors
-import pytest
-
-
-@pytest.mark.flake8
-@pytest.mark.linter
-def test_flake8():
- rc, errors = main_with_errors(argv=[])
- assert rc == 0, \
- 'Found %d code style errors / warnings:\n' % len(errors) + \
- '\n'.join(errors)
diff --git a/ros2_ws/src/simple_robot_inverse_kinematik/test/test_pep257.py b/ros2_ws/src/simple_robot_inverse_kinematik/test/test_pep257.py
deleted file mode 100644
index b234a38..0000000
--- a/ros2_ws/src/simple_robot_inverse_kinematik/test/test_pep257.py
+++ /dev/null
@@ -1,23 +0,0 @@
-# Copyright 2015 Open Source Robotics Foundation, Inc.
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-# http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-from ament_pep257.main import main
-import pytest
-
-
-@pytest.mark.linter
-@pytest.mark.pep257
-def test_pep257():
- rc = main(argv=['.', 'test'])
- assert rc == 0, 'Found code style errors / warnings'
--
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