diff --git a/ros2_ws/src/python_parameters/LICENSE b/ros2_ws/src/python_parameters/LICENSE
deleted file mode 100644
index d645695673349e3947e8e5ae42332d0ac3164cd7..0000000000000000000000000000000000000000
--- a/ros2_ws/src/python_parameters/LICENSE
+++ /dev/null
@@ -1,202 +0,0 @@
-
- Apache License
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- http://www.apache.org/licenses/
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diff --git a/ros2_ws/src/python_parameters/package.xml b/ros2_ws/src/python_parameters/package.xml
deleted file mode 100644
index f3365b2d859e0e8f6fdf11aba64605bf332033a9..0000000000000000000000000000000000000000
--- a/ros2_ws/src/python_parameters/package.xml
+++ /dev/null
@@ -1,20 +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>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>
diff --git a/ros2_ws/src/python_parameters/python_parameters/__init__.py b/ros2_ws/src/python_parameters/python_parameters/__init__.py
deleted file mode 100644
index e69de29bb2d1d6434b8b29ae775ad8c2e48c5391..0000000000000000000000000000000000000000
diff --git a/ros2_ws/src/python_parameters/python_parameters/velocity_parameter.py b/ros2_ws/src/python_parameters/python_parameters/velocity_parameter.py
deleted file mode 100644
index c462f2ad2f15ce4683a354122269218c861f3f6e..0000000000000000000000000000000000000000
--- a/ros2_ws/src/python_parameters/python_parameters/velocity_parameter.py
+++ /dev/null
@@ -1,34 +0,0 @@
-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()
diff --git a/ros2_ws/src/python_parameters/resource/python_parameters b/ros2_ws/src/python_parameters/resource/python_parameters
deleted file mode 100644
index e69de29bb2d1d6434b8b29ae775ad8c2e48c5391..0000000000000000000000000000000000000000
diff --git a/ros2_ws/src/python_parameters/setup.cfg b/ros2_ws/src/python_parameters/setup.cfg
deleted file mode 100644
index 82e18be1be03b85ab636b0c8d0ed3fdc1b13a00b..0000000000000000000000000000000000000000
--- a/ros2_ws/src/python_parameters/setup.cfg
+++ /dev/null
@@ -1,4 +0,0 @@
-[develop]
-script_dir=$base/lib/python_parameters
-[install]
-install_scripts=$base/lib/python_parameters
diff --git a/ros2_ws/src/python_parameters/setup.py b/ros2_ws/src/python_parameters/setup.py
deleted file mode 100644
index 3d6eff6ca73a84c6786f1c23aa2be0573f0d8aab..0000000000000000000000000000000000000000
--- a/ros2_ws/src/python_parameters/setup.py
+++ /dev/null
@@ -1,26 +0,0 @@
-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',
- ],
- },
-)
diff --git a/ros2_ws/src/python_parameters/test/test_copyright.py b/ros2_ws/src/python_parameters/test/test_copyright.py
deleted file mode 100644
index 97a39196e84db97954341162a6d2e7f771d938c0..0000000000000000000000000000000000000000
--- a/ros2_ws/src/python_parameters/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/python_parameters/test/test_flake8.py b/ros2_ws/src/python_parameters/test/test_flake8.py
deleted file mode 100644
index 27ee1078ff077cc3a0fec75b7d023101a68164d1..0000000000000000000000000000000000000000
--- a/ros2_ws/src/python_parameters/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/python_parameters/test/test_pep257.py b/ros2_ws/src/python_parameters/test/test_pep257.py
deleted file mode 100644
index b234a3840f4c5bd38f043638c8622b8f240e1185..0000000000000000000000000000000000000000
--- a/ros2_ws/src/python_parameters/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'
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 a7343c2abb72c3c83dcee760c427ece180cd383c..05e75e71b508ab6e18fba33595758d2bd511ffe8 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
@@ -1,8 +1,10 @@
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',
diff --git a/ros2_ws/src/simple_robot_1dof/setup.py b/ros2_ws/src/simple_robot_1dof/setup.py
index 6aae5652cbc53e2ce9519ea01d9ec08d9dd83523..193051f60cac3dafba068325cb54e0423ccc79a5 100644
--- a/ros2_ws/src/simple_robot_1dof/setup.py
+++ b/ros2_ws/src/simple_robot_1dof/setup.py
@@ -1,4 +1,6 @@
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',
],
},
)
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 0bd56f23a891ab4d9d9b4c5024ee1320a3f4133f..2e8b6d2b75741680b94bebc25775fecc972f913e 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
@@ -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):
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 bcb4def714e3d481e1fe89842663b6b7420b7d73..2456a00c2ef55e89cf060c5d0d96823d0e558801 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
@@ -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)
diff --git a/ros2_ws/src/simple_robot_1dof/simple_robot_1dof/reference_node_1dof_velocity.py b/ros2_ws/src/simple_robot_1dof/simple_robot_1dof/reference_node_1dof_velocity.py
deleted file mode 100644
index b85f85f5eaa2d576bfccb02416120e1661b05c19..0000000000000000000000000000000000000000
--- a/ros2_ws/src/simple_robot_1dof/simple_robot_1dof/reference_node_1dof_velocity.py
+++ /dev/null
@@ -1,63 +0,0 @@
-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