Skip to content
Snippets Groups Projects
Commit d10fe57a authored by Ventsislav Dokusanski's avatar Ventsislav Dokusanski
Browse files

Remove old directory and create velocity profiles for the 1dof movement

parent 5cf5ce82
No related branches found
No related tags found
No related merge requests found
Hide whitespace changes
Inline Side-by-side
Showing
with 80 additions and 442 deletions
ros2_ws/src/python_parameters/LICENSE deleted 100644 → 0
+ 0
− 202
View file @ 5cf5ce82
Apache License
Version 2.0, January 2004
http://www.apache.org/licenses/
TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
1. Definitions.
"License" shall mean the terms and conditions for use, reproduction,
and distribution as defined by Sections 1 through 9 of this document.
"Licensor" shall mean the copyright owner or entity authorized by
the copyright owner that is granting the License.
"Legal Entity" shall mean the union of the acting entity and all
other entities that control, are controlled by, or are under common
control with that entity. For the purposes of this definition,
"control" means (i) the power, direct or indirect, to cause the
direction or management of such entity, whether by contract or
otherwise, or (ii) ownership of fifty percent (50%) or more of the
outstanding shares, or (iii) beneficial ownership of such entity.
"You" (or "Your") shall mean an individual or Legal Entity
exercising permissions granted by this License.
"Source" form shall mean the preferred form for making modifications,
including but not limited to software source code, documentation
source, and configuration files.
"Object" form shall mean any form resulting from mechanical
transformation or translation of a Source form, including but
not limited to compiled object code, generated documentation,
and conversions to other media types.
"Work" shall mean the work of authorship, whether in Source or
Object form, made available under the License, as indicated by a
copyright notice that is included in or attached to the work
(an example is provided in the Appendix below).
"Derivative Works" shall mean any work, whether in Source or Object
form, that is based on (or derived from) the Work and for which the
editorial revisions, annotations, elaborations, or other modifications
represent, as a whole, an original work of authorship. For the purposes
of this License, Derivative Works shall not include works that remain
separable from, or merely link (or bind by name) to the interfaces of,
the Work and Derivative Works thereof.
"Contribution" shall mean any work of authorship, including
the original version of the Work and any modifications or additions
to that Work or Derivative Works thereof, that is intentionally
submitted to Licensor for inclusion in the Work by the copyright owner
or by an individual or Legal Entity authorized to submit on behalf of
the copyright owner. For the purposes of this definition, "submitted"
means any form of electronic, verbal, or written communication sent
to the Licensor or its representatives, including but not limited to
communication on electronic mailing lists, source code control systems,
and issue tracking systems that are managed by, or on behalf of, the
Licensor for the purpose of discussing and improving the Work, but
excluding communication that is conspicuously marked or otherwise
designated in writing by the copyright owner as "Not a Contribution."
"Contributor" shall mean Licensor and any individual or Legal Entity
on behalf of whom a Contribution has been received by Licensor and
subsequently incorporated within the Work.
2. Grant of Copyright License. Subject to the terms and conditions of
this License, each Contributor hereby grants to You a perpetual,
worldwide, non-exclusive, no-charge, royalty-free, irrevocable
copyright license to reproduce, prepare Derivative Works of,
publicly display, publicly perform, sublicense, and distribute the
Work and such Derivative Works in Source or Object form.
3. Grant of Patent License. Subject to the terms and conditions of
this License, each Contributor hereby grants to You a perpetual,
worldwide, non-exclusive, no-charge, royalty-free, irrevocable
(except as stated in this section) patent license to make, have made,
use, offer to sell, sell, import, and otherwise transfer the Work,
where such license applies only to those patent claims licensable
by such Contributor that are necessarily infringed by their
Contribution(s) alone or by combination of their Contribution(s)
with the Work to which such Contribution(s) was submitted. If You
institute patent litigation against any entity (including a
cross-claim or counterclaim in a lawsuit) alleging that the Work
or a Contribution incorporated within the Work constitutes direct
or contributory patent infringement, then any patent licenses
granted to You under this License for that Work shall terminate
as of the date such litigation is filed.
4. Redistribution. You may reproduce and distribute copies of the
Work or Derivative Works thereof in any medium, with or without
modifications, and in Source or Object form, provided that You
meet the following conditions:
(a) You must give any other recipients of the Work or
Derivative Works a copy of this License; and
(b) You must cause any modified files to carry prominent notices
stating that You changed the files; and
(c) You must retain, in the Source form of any Derivative Works
that You distribute, all copyright, patent, trademark, and
attribution notices from the Source form of the Work,
excluding those notices that do not pertain to any part of
the Derivative Works; and
(d) If the Work includes a "NOTICE" text file as part of its
distribution, then any Derivative Works that You distribute must
include a readable copy of the attribution notices contained
within such NOTICE file, excluding those notices that do not
pertain to any part of the Derivative Works, in at least one
of the following places: within a NOTICE text file distributed
as part of the Derivative Works; within the Source form or
documentation, if provided along with the Derivative Works; or,
within a display generated by the Derivative Works, if and
wherever such third-party notices normally appear. The contents
of the NOTICE file are for informational purposes only and
do not modify the License. You may add Your own attribution
notices within Derivative Works that You distribute, alongside
or as an addendum to the NOTICE text from the Work, provided
that such additional attribution notices cannot be construed
as modifying the License.
You may add Your own copyright statement to Your modifications and
may provide additional or different license terms and conditions
for use, reproduction, or distribution of Your modifications, or
for any such Derivative Works as a whole, provided Your use,
reproduction, and distribution of the Work otherwise complies with
the conditions stated in this License.
5. Submission of Contributions. Unless You explicitly state otherwise,
any Contribution intentionally submitted for inclusion in the Work
by You to the Licensor shall be under the terms and conditions of
this License, without any additional terms or conditions.
Notwithstanding the above, nothing herein shall supersede or modify
the terms of any separate license agreement you may have executed
with Licensor regarding such Contributions.
6. Trademarks. This License does not grant permission to use the trade
names, trademarks, service marks, or product names of the Licensor,
except as required for reasonable and customary use in describing the
origin of the Work and reproducing the content of the NOTICE file.
7. Disclaimer of Warranty. Unless required by applicable law or
agreed to in writing, Licensor provides the Work (and each
Contributor provides its Contributions) on an "AS IS" BASIS,
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or
implied, including, without limitation, any warranties or conditions
of TITLE, NON-INFRINGEMENT, MERCHANTABILITY, or FITNESS FOR A
PARTICULAR PURPOSE. You are solely responsible for determining the
appropriateness of using or redistributing the Work and assume any
risks associated with Your exercise of permissions under this License.
8. Limitation of Liability. In no event and under no legal theory,
whether in tort (including negligence), contract, or otherwise,
unless required by applicable law (such as deliberate and grossly
negligent acts) or agreed to in writing, shall any Contributor be
liable to You for damages, including any direct, indirect, special,
incidental, or consequential damages of any character arising as a
result of this License or out of the use or inability to use the
Work (including but not limited to damages for loss of goodwill,
work stoppage, computer failure or malfunction, or any and all
other commercial damages or losses), even if such Contributor
has been advised of the possibility of such damages.
9. Accepting Warranty or Additional Liability. While redistributing
the Work or Derivative Works thereof, You may choose to offer,
and charge a fee for, acceptance of support, warranty, indemnity,
or other liability obligations and/or rights consistent with this
License. However, in accepting such obligations, You may act only
on Your own behalf and on Your sole responsibility, not on behalf
of any other Contributor, and only if You agree to indemnify,
defend, and hold each Contributor harmless for any liability
incurred by, or claims asserted against, such Contributor by reason
of your accepting any such warranty or additional liability.
END OF TERMS AND CONDITIONS
APPENDIX: How to apply the Apache License to your work.
To apply the Apache License to your work, attach the following
boilerplate notice, with the fields enclosed by brackets "[]"
replaced with your own identifying information. (Don't include
the brackets!) The text should be enclosed in the appropriate
comment syntax for the file format. We also recommend that a
file or class name and description of purpose be included on the
same "printed page" as the copyright notice for easier
identification within third-party archives.
Copyright [yyyy] [name of copyright owner]
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.
ros2_ws/src/python_parameters/package.xml deleted 100644 → 0
+ 0
− 20
View file @ 5cf5ce82
<?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>python_parameters</name>
<version>0.0.0</version>
<description>TODO: Package description</description>
<maintainer email="udnpp@student.kit.edu">ventsi</maintainer>
<license>Apache-2.0</license>
<depend>rclpy</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>
ros2_ws/src/python_parameters/python_parameters/__init__.py deleted 100644 → 0
+ 0
− 0
View file @ 5cf5ce82
ros2_ws/src/python_parameters/python_parameters/velocity_parameter.py deleted 100644 → 0
+ 0
− 34
View file @ 5cf5ce82
import rclpy
from rclpy.node import Node
from rclpy.parameter import Parameter
from std_msgs.msg import Float64
class VelocityParam(Node):
def __init__(self):
super().__init__('velocity_param_node')
# Declare a parameter named 'velocity' with a default value of 10
self.declare_parameter('velocity', 10.0)
self.velocity_publisher_ = self.create_publisher(Float64, '/simple_robot/velocity', 10)
# Create a timer that triggers the timer_callback every second
# self.timer = self.create_timer(1, self.timer_callback)
self.timer_callback()
def timer_callback(self):
# Get the current value of the 'velocity' parameter
velocity = self.get_parameter('velocity').value
msg = Float64()
msg.data = velocity
self.velocity_publisher_.publish(msg)
self.get_logger().info(f'Current velocity: {msg.data}')
def main():
rclpy.init()
node = VelocityParam()
rclpy.spin(node)
node.destroy_node()
rclpy.shutdown()
if __name__ == '__main__':
main()
ros2_ws/src/python_parameters/resource/python_parameters deleted 100644 → 0
+ 0
− 0
View file @ 5cf5ce82
ros2_ws/src/python_parameters/setup.cfg deleted 100644 → 0
+ 0
− 4
View file @ 5cf5ce82
[develop]
script_dir=$base/lib/python_parameters
[install]
install_scripts=$base/lib/python_parameters
ros2_ws/src/python_parameters/setup.py deleted 100644 → 0
+ 0
− 26
View file @ 5cf5ce82
from setuptools import find_packages, setup
package_name = 'python_parameters'
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='udnpp@student.kit.edu',
description='TODO: Package description',
license='Apache-2.0',
tests_require=['pytest'],
entry_points={
'console_scripts': [
'velocity_param_node = python_parameters.velocity_parameter:main',
],
},
)
ros2_ws/src/python_parameters/test/test_copyright.py deleted 100644 → 0
+ 0
− 25
View file @ 5cf5ce82
# 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'
ros2_ws/src/python_parameters/test/test_flake8.py deleted 100644 → 0
+ 0
− 25
View file @ 5cf5ce82
# 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)
ros2_ws/src/python_parameters/test/test_pep257.py deleted 100644 → 0
+ 0
− 23
View file @ 5cf5ce82
# 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'
ros2_ws/src/simple_robot_1dof/launch/kuka_rviz_simulation_1dof_launch.py
+ 31
− 8
View file @ d10fe57a
import os
from launch import LaunchDescription
from launch_ros.actions import Node
from launch.actions import ExecuteProcess
from launch.actions import ExecuteProcess, DeclareLaunchArgument
from ament_index_python.packages import get_package_share_directory
from launch.substitutions import LaunchConfiguration
def generate_launch_description():
......@@ -14,7 +16,28 @@ def generate_launch_description():
'forward_kinematics_simulations.rviz'
)
velocity1_launch_arg = DeclareLaunchArgument('velocity1', default_value = '0.01') # constant: 0.015 acceleration: 0.005
velocity1 = LaunchConfiguration('velocity1')
velocity2_launch_arg = DeclareLaunchArgument('velocity2', default_value = '0.03')
velocity2 = LaunchConfiguration('velocity2')
velocity3_launch_arg = DeclareLaunchArgument('velocity3', default_value = '0.005')
velocity3 = LaunchConfiguration('velocity3')
slope_launch_arg = DeclareLaunchArgument('slope', default_value = '0.25') # [0 ; 0.5]
slope = LaunchConfiguration('slope')
velocity_constant_launch_arg = DeclareLaunchArgument('velocity_constant', default_value = '0.015')
velocity_constant = LaunchConfiguration('velocity_constant')
return LaunchDescription([
velocity1_launch_arg,
velocity2_launch_arg,
slope_launch_arg,
velocity3_launch_arg,
velocity_constant_launch_arg,
Node(
package = package_name,
executable = 'forward_kinematics_node_1dof',
......@@ -27,7 +50,13 @@ def generate_launch_description():
executable = 'reference_node_1dof',
name = 'reference_node',
output = 'screen',
parameters = []
parameters = [
{'velocity1': velocity1},
{'velocity2': velocity2},
{'velocity3': velocity3},
{'velocity_constant': velocity_constant},
{'slope': slope}
]
),
Node(
package='rviz2',
......@@ -36,12 +65,6 @@ def generate_launch_description():
output='screen',
arguments=['-d', rviz_config_file]
),
# Node(
# package = 'python_parameters',
# executable='velocity_param_node',
# name='velocity_param_node',
# output='screen'
# )
Node(
package= 'iiwa_inverse_kinematics',
executable='inverse_kinematics_node',
......
ros2_ws/src/simple_robot_1dof/setup.py
+ 4
− 0
View file @ d10fe57a
from setuptools import find_packages, setup
import os
from glob import glob
package_name = 'simple_robot_1dof'
......@@ -12,6 +14,7 @@ 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]*')))
],
install_requires=['setuptools'],
zip_safe=True,
......@@ -24,6 +27,7 @@ setup(
'console_scripts': [
'forward_kinematics_node_1dof = simple_robot_1dof.forward_kinematics_node_1dof:main',
'reference_node_1dof = simple_robot_1dof.reference_node_1dof:main',
'reference_node_1dof_velocity = simple_robot_1dof.reference_node_1dof_velocity:main',
],
},
)
ros2_ws/src/simple_robot_1dof/simple_robot_1dof/forward_kinematics_node_1dof.py
+ 14
− 6
View file @ d10fe57a
......@@ -13,6 +13,7 @@ from geometry_msgs.msg import Pose
from visualization_msgs.msg import Marker
import transformations
from scipy.spatial.transform import Rotation
import time
class Forward_Kinematics_Node_1Dof(Node):
......@@ -47,10 +48,15 @@ class Forward_Kinematics_Node_1Dof(Node):
self.path.header.frame_id = "map"
self.path.header.stamp = self.get_clock().now().to_msg()
self.index = 0
def listener_callback(self, msg):
# Get the message
self.phi = msg.data
# call the transformation function
if self.phi == 0:
self.index += 1
self.transformation()
def transformation(self):
......@@ -83,14 +89,14 @@ class Forward_Kinematics_Node_1Dof(Node):
end_position = end_forward_kinematics[:4, 3]
end_orientation = Rotation.from_matrix(end_forward_kinematics[:3, :3]).as_quat()
# Calculate the intermediate vectors
intermediate_vector = np.matmul(intermediate_rotation, start_position)
self.publish_pose_simple_robot(end_position, end_orientation)
self.publish_pose_target_pose(end_position, end_orientation)
if self.index == 1:
self.publish_pose_target_pose(end_position, end_orientation)
self.construct_path(intermediate_vector)
self.construct_path(end_position)
def construct_path(self, vector):
# RViz
......@@ -164,6 +170,8 @@ class Forward_Kinematics_Node_1Dof(Node):
pose_msg.orientation.z = quaternion[2]
pose_msg.orientation.w = quaternion[3]
self.pose_publisher_kuka_robot_.publish(pose_msg)
# if self.phi == 0.0:
# time.sleep(2)
def main(args = None):
......
ros2_ws/src/simple_robot_1dof/simple_robot_1dof/reference_node_1dof.py
+ 31
− 6
View file @ d10fe57a
......@@ -12,12 +12,28 @@ class Reference_Node_1DoF(Node):
super().__init__('reference_node_1dof')
#Create a publisher sending the vector as a message
self.publisher_ = self.create_publisher(Float64, '/dof1/reference_angles', 10)
timer_period = 0.1 # seconds
self.timer = self.create_timer(timer_period, self.ref_point_publisher)
self.declare_parameter('velocity1', 0.0)
self.declare_parameter('velocity2', 0.0)
self.declare_parameter('velocity3', 0.0)
self.declare_parameter('velocity_constant', 0.0)
self.declare_parameter('slope', 0.0)
self.velocity1 = self.get_parameter('velocity1').get_parameter_value().double_value
self.velocity2 = self.get_parameter('velocity2').get_parameter_value().double_value
self.velocity3 = self.get_parameter('velocity3').get_parameter_value().double_value
self.velocity_constant = self.get_parameter('velocity_constant').get_parameter_value().double_value
self.slope = self.get_parameter('slope').get_parameter_value().double_value
self.phi_start = 0.0
self.phi_end = 1.0
self.phi = self.phi_start
self.delta = 0.005
self.delta = self.velocity_constant
self.constant_speed = False
self.timer_period = 0.1 # seconds
self.timer = self.create_timer(self.timer_period, self.ref_point_publisher)
# List the points
def ref_point_publisher(self):
......@@ -25,12 +41,21 @@ class Reference_Node_1DoF(Node):
# Interpolate between x_0 - x_1
msg = Float64()
self.phi = self.phi + self.delta
if self.constant_speed == True:
self.phi = self.phi + self.delta
elif self.constant_speed == False:
if self.phi < self.slope:
self.phi = self.phi + self.velocity1
elif self.phi > 1 - self.slope:
self.phi = self.phi + self.velocity3
else:
self.phi = self.phi + self.velocity2
#setting back to 0
if self.phi>self.phi_end:
self.phi = self.phi_start
#self.get_logger().info('Resetting "%f"' % self.phi)
# self.get_logger().info('Resetting "%f"' % self.phi)
msg.data = self.phi
self.publisher_.publish(msg)
......
ros2_ws/src/simple_robot_1dof/simple_robot_1dof/reference_node_1dof_velocity.py deleted 100644 → 0
+ 0
− 63
View file @ 5cf5ce82
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_Velocity(Node):
def __init__(self):
super().__init__('reference_node_1dof_velocity')
self.subscription = self.create_subscription(
Float64,
'/simple_robot/velocity',
self.listener_callback,
10)
#Create a publisher sending the vector as a message
self.publisher_ = self.create_publisher(Float64, '/dof1/reference_angles', 10)
# timer_period = 0.05 # seconds
# self.timer = self.create_timer(timer_period, self.ref_point_publisher)
# self.phi_start = 0.0
# self.phi_end = 1.0
# self.phi = self.phi_start
# self.delta = 0.005
# # List the points
def listener_callback(self, msg):
velocity = msg.data
timer_period = 1 / velocity # seconds
self.timer = self.create_timer(timer_period, self.ref_point_publisher)
self.phi_start = 0.0
self.phi_end = 1.0
self.phi = self.phi_start
self.delta = 0.005
# List the points
def ref_point_publisher(self):
# Ref position over the time
# Interpolate between x_0 - x_1
msg = Float64()
self.phi = self.phi + self.delta
#setting back to 0
if self.phi>self.phi_end:
self.phi = self.phi_start
#self.get_logger().info('Resetting "%f"' % self.phi)
msg.data = self.phi
self.publisher_.publish(msg)
def main(args = None):
rclpy.init(args = args)
node = Reference_Node_1DoF_Velocity()
rclpy.spin(node)
node.destroy_node()
rclpy.shutdown()
if __name__ == '__main__':
main()
\ No newline at end of file
0% or .
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment

Help | Imprint | Privacy policy | Accessibility | Contact