Initial commit

frames.gv

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+digraph G {
+"campero_base_link" -> "campero_base_docking_contact_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 10000.000 Hz\nMost recent transform: 0.000 ( 401.835 sec old)\nBuffer length: 0.000 sec\n"];
+"campero_base_footprint" -> "campero_base_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 10000.000 Hz\nMost recent transform: 0.000 ( 401.835 sec old)\nBuffer length: 0.000 sec\n"];
+"campero_base_link" -> "campero_front_laser_base_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 10000.000 Hz\nMost recent transform: 0.000 ( 401.835 sec old)\nBuffer length: 0.000 sec\n"];
+"campero_front_laser_base_link" -> "campero_front_laser_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 10000.000 Hz\nMost recent transform: 0.000 ( 401.835 sec old)\nBuffer length: 0.000 sec\n"];
+"campero_base_link" -> "campero_front_laser_structure_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 10000.000 Hz\nMost recent transform: 0.000 ( 401.835 sec old)\nBuffer length: 0.000 sec\n"];
+"campero_front_ptz_camera_tilt_link" -> "campero_front_ptz_camera_frame_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 10000.000 Hz\nMost recent transform: 0.000 ( 401.835 sec old)\nBuffer length: 0.000 sec\n"];
+"campero_front_ptz_camera_pan_link" -> "campero_front_ptz_camera_tilt_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 125.234 Hz\nMost recent transform: 401.834 ( 0.001 sec old)\nBuffer length: 4.280 sec\n"];
+"campero_base_link" -> "campero_front_ptz_camera_base_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 10000.000 Hz\nMost recent transform: 0.000 ( 401.835 sec old)\nBuffer length: 0.000 sec\n"];
+"campero_front_ptz_camera_frame_link" -> "campero_front_ptz_camera_optical_frame_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 10000.000 Hz\nMost recent transform: 0.000 ( 401.835 sec old)\nBuffer length: 0.000 sec\n"];
+"campero_base_link" -> "campero_imu_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 10000.000 Hz\nMost recent transform: 0.000 ( 401.835 sec old)\nBuffer length: 0.000 sec\n"];
+"campero_base_link" -> "campero_rear_laser_base_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 10000.000 Hz\nMost recent transform: 0.000 ( 401.835 sec old)\nBuffer length: 0.000 sec\n"];
+"campero_rear_laser_base_link" -> "campero_rear_laser_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 10000.000 Hz\nMost recent transform: 0.000 ( 401.835 sec old)\nBuffer length: 0.000 sec\n"];
+"campero_base_link" -> "campero_rear_laser_structure_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 10000.000 Hz\nMost recent transform: 0.000 ( 401.835 sec old)\nBuffer length: 0.000 sec\n"];
+"campero_sensor_fts_toolside" -> "campero_robotiq_85_base_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 10000.000 Hz\nMost recent transform: 0.000 ( 401.835 sec old)\nBuffer length: 0.000 sec\n"];
+"campero_sensor_fts_robotside" -> "campero_sensor_fts_toolside"[label="Broadcaster: /robot_state_publisher\nAverage rate: 10000.000 Hz\nMost recent transform: 0.000 ( 401.835 sec old)\nBuffer length: 0.000 sec\n"];
+"campero_robotiq_85_left_knuckle_link" -> "campero_robotiq_85_left_finger_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 10000.000 Hz\nMost recent transform: 0.000 ( 401.835 sec old)\nBuffer length: 0.000 sec\n"];
+"campero_robotiq_85_base_link" -> "campero_robotiq_85_left_knuckle_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 125.234 Hz\nMost recent transform: 401.834 ( 0.001 sec old)\nBuffer length: 4.280 sec\n"];
+"campero_robotiq_85_right_knuckle_link" -> "campero_robotiq_85_right_finger_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 10000.000 Hz\nMost recent transform: 0.000 ( 401.835 sec old)\nBuffer length: 0.000 sec\n"];
+"campero_robotiq_85_base_link" -> "campero_robotiq_85_right_knuckle_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 125.234 Hz\nMost recent transform: 401.834 ( 0.001 sec old)\nBuffer length: 4.280 sec\n"];
+"campero_ur10_ee_link" -> "campero_sensor_fts_robotside"[label="Broadcaster: /robot_state_publisher\nAverage rate: 10000.000 Hz\nMost recent transform: 0.000 ( 401.835 sec old)\nBuffer length: 0.000 sec\n"];
+"campero_ur10_wrist_3_link" -> "campero_ur10_ee_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 10000.000 Hz\nMost recent transform: 0.000 ( 401.835 sec old)\nBuffer length: 0.000 sec\n"];
+"campero_sensor_fts_robotside" -> "campero_sensor_robotiq_force_torque_frame_id"[label="Broadcaster: /robot_state_publisher\nAverage rate: 10000.000 Hz\nMost recent transform: 0.000 ( 401.835 sec old)\nBuffer length: 0.000 sec\n"];
+"campero_base_link" -> "campero_ur10_base_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 10000.000 Hz\nMost recent transform: 0.000 ( 401.835 sec old)\nBuffer length: 0.000 sec\n"];
+"campero_ur10_base_link" -> "campero_ur10_base"[label="Broadcaster: /robot_state_publisher\nAverage rate: 10000.000 Hz\nMost recent transform: 0.000 ( 401.835 sec old)\nBuffer length: 0.000 sec\n"];
+"campero_ur10_wrist_2_link" -> "campero_ur10_wrist_3_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 125.234 Hz\nMost recent transform: 401.834 ( 0.001 sec old)\nBuffer length: 4.280 sec\n"];
+"campero_ur10_wrist_3_link" -> "campero_ur10_tool0"[label="Broadcaster: /robot_state_publisher\nAverage rate: 10000.000 Hz\nMost recent transform: 0.000 ( 401.835 sec old)\nBuffer length: 0.000 sec\n"];
+"campero_base_link" -> "campero_back_left_wheel_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 125.234 Hz\nMost recent transform: 401.834 ( 0.001 sec old)\nBuffer length: 4.280 sec\n"];
+"campero_base_link" -> "campero_back_right_wheel_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 125.234 Hz\nMost recent transform: 401.834 ( 0.001 sec old)\nBuffer length: 4.280 sec\n"];
+"campero_base_link" -> "campero_front_left_wheel_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 125.234 Hz\nMost recent transform: 401.834 ( 0.001 sec old)\nBuffer length: 4.280 sec\n"];
+"campero_front_ptz_camera_base_link" -> "campero_front_ptz_camera_pan_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 125.234 Hz\nMost recent transform: 401.834 ( 0.001 sec old)\nBuffer length: 4.280 sec\n"];
+"campero_base_link" -> "campero_front_right_wheel_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 125.234 Hz\nMost recent transform: 401.834 ( 0.001 sec old)\nBuffer length: 4.280 sec\n"];
+"campero_robotiq_85_left_inner_knuckle_link" -> "campero_robotiq_85_left_finger_tip_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 125.234 Hz\nMost recent transform: 401.834 ( 0.001 sec old)\nBuffer length: 4.280 sec\n"];
+"campero_robotiq_85_base_link" -> "campero_robotiq_85_left_inner_knuckle_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 125.234 Hz\nMost recent transform: 401.834 ( 0.001 sec old)\nBuffer length: 4.280 sec\n"];
+"campero_robotiq_85_right_inner_knuckle_link" -> "campero_robotiq_85_right_finger_tip_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 125.234 Hz\nMost recent transform: 401.834 ( 0.001 sec old)\nBuffer length: 4.280 sec\n"];
+"campero_robotiq_85_base_link" -> "campero_robotiq_85_right_inner_knuckle_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 125.234 Hz\nMost recent transform: 401.834 ( 0.001 sec old)\nBuffer length: 4.280 sec\n"];
+"campero_ur10_upper_arm_link" -> "campero_ur10_forearm_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 125.234 Hz\nMost recent transform: 401.834 ( 0.001 sec old)\nBuffer length: 4.280 sec\n"];
+"campero_ur10_shoulder_link" -> "campero_ur10_upper_arm_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 125.234 Hz\nMost recent transform: 401.834 ( 0.001 sec old)\nBuffer length: 4.280 sec\n"];
+"campero_ur10_base_link" -> "campero_ur10_shoulder_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 125.234 Hz\nMost recent transform: 401.834 ( 0.001 sec old)\nBuffer length: 4.280 sec\n"];
+"campero_ur10_forearm_link" -> "campero_ur10_wrist_1_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 125.234 Hz\nMost recent transform: 401.834 ( 0.001 sec old)\nBuffer length: 4.280 sec\n"];
+"campero_ur10_wrist_1_link" -> "campero_ur10_wrist_2_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 125.234 Hz\nMost recent transform: 401.834 ( 0.001 sec old)\nBuffer length: 4.280 sec\n"];
+edge [style=invis];
+ subgraph cluster_legend { style=bold; color=black; label ="view_frames Result";
+"Recorded at time: 401.835"[ shape=plaintext ] ;
+ }->"campero_base_footprint";
+}

src/CMakeLists.txt

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+/opt/ros/kinetic/share/catkin/cmake/toplevel.cmake

src/campero_common/README.md

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+# campero_common
+
+Common packages of the Campero: URDF description of the Campero platform messages and other files for simulation.
+
+---
+
+## Packages
+
+### campero_control
+
+This package contains the launch and configuration files to spawn the joint controllers with the ROS controller_manager. It allows to launch the joint controllers for the Campero (4 axes skid steering + 2 axes ptz), Campero OMNI (4 axes skid steering, 4 axes swerve drive).
+
+The Campero simulation stack follows the gazebo_ros controller manager scheme described in
+http://gazebosim.org/wiki/Tutorials/1.9/ROS_Control_with_Gazebo
+
+### campero_description
+
+The urdf, meshes, and other elements needed in the description are contained here. The standard camera configurations have been included (w/wo sphere_camera, w/wo axis_camera, etc.). This package includes the description of the Campero, Campero STEEL (and HL versions) mobile platforms.
+The package includes also some launch files to publish the robot state and to test the urdf files in rviz.
+
+### campero_localization
+
+This package contains launch files to use the EKF of the robot_localization package with the Campero robots. It contains a node to subscribe to gps data and publish it as odometry to be used as an additional source for odometry.
+
+### campero_navigation
+
+This package contains all the configuration files needed to execute the AMCL and SLAM navigation algorithms in simulation.
+
+### campero_pad
+
+This package contains the node that subscribes to /joy messages and publishes command messages for the robot platform including speed level control. The joystick output is feed to a mux (http://wiki.ros.org/twist_mux) so that the final command to the robot can be set by different components (move_base, etc.)
+
+The node allows to load different types of joysticks (PS4, PS3, Logitech, Thrustmaster). New models can be easily added by creating new .yaml files. If modbus_io node is available, the digital outputs (ligths, axes, etc.) can also be controlled with the pad. If ptz camera is available, the pan-tilt-zoom can also be commanded with the pad. 

src/campero_common/campero_common/CMakeLists.txt

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+cmake_minimum_required(VERSION 2.8.3)
+project(campero_common)
+find_package(catkin REQUIRED)
+catkin_metapackage()

src/campero_common/campero_common/package.xml

@@ -0,0 +1,25 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>campero_common</name>
+  <version>0.0.0</version>
+  <description>The campero_common package</description>
+
+  <maintainer email="[email protected]">Alejandro Arnal</maintainer>
+  <maintainer email="[email protected]">Jose Gómez</maintainer>
+  <maintainer email="[email protected]">Marta Miller</maintainer>
+
+
+  <license>BSD</license>
+
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <exec_depend>campero_control</exec_depend>
+  <exec_depend>campero_descritpion</exec_depend>
+  <exec_depend>campero_localization</exec_depend>
+  <exec_depend>campero_navigation</exec_depend>
+  <exec_depend>campero_pad</exec_depend>
+
+  <export>
+
+  </export>
+</package>

src/campero_common/campero_control/CMakeLists.txt

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+cmake_minimum_required(VERSION 2.8.3)
+project(campero_control)
+
+find_package(catkin REQUIRED)
+
+catkin_package()
+
+include_directories(${catkin_INCLUDE_DIRS})
+
+install(
+  DIRECTORY launch config
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)

src/campero_common/campero_control/config/campero_skid_control.yaml

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+joint_blw_velocity_controller:
+  type: velocity_controllers/JointVelocityController
+  joint: campero_back_left_wheel_joint
+joint_brw_velocity_controller:
+  type: velocity_controllers/JointVelocityController
+  joint: campero_back_right_wheel_joint
+joint_frw_velocity_controller:
+  type: velocity_controllers/JointVelocityController
+  joint: campero_front_right_wheel_joint
+joint_flw_velocity_controller:
+  type: velocity_controllers/JointVelocityController
+  joint: campero_front_left_wheel_joint
+
+#joint_pan_position_controller:
+# type: position_controllers/JointPositionController
+# joint: joint_camera_pan
+#joint_tilt_position_controller:
+# type: position_controllers/JointPositionController
+# joint: joint_camera_tilt
+
+robotnik_base_control:
+  type: campero_controller/CamperoController
+  joint:
+    front_right_wheel_joint:
+      name: campero_front_right_wheel_joint
+      max_speed: 27.27 # rad/s
+    front_left_wheel_joint:
+      name: campero_front_left_wheel_joint
+      max_speed: 27.27 # rad/s
+    back_right_wheel_joint:
+      name: campero_back_right_wheel_joint
+      max_speed: 27.27 # rad/s
+    back_left_wheel_joint:
+      name: campero_back_left_wheel_joint
+      max_speed: 27.27 # rad/s
+  linear_speed_limit: 1.5 # m/s
+  linear_acceleration_limit: 3 # m/s^2
+  angular_speed_limit: 0.5 # rad/s
+  angular_acceleration_limit: 1 # rad/s^2
+  odom_frame: campero_odom
+  robot_base_frame: campero_base_footprint
+  odom_broadcast_tf: true
+  odom_topic: 'robotnik_base_control/odom'
+  wheel_base: 0.685
+  track_width: 0.52
+  wheel_diameter: 0.4064
+  cmd_watchdog_duration: 0.2
+  imu_watchdog_duration: 0.1
+  imu_topic: imu/data
+  odom_publish_frequency: 100
+  cmd_vel        : 'robotnik_base_control/cmd_vel'
+  kinematic_mode : 'skid'
+  motion_odometry: true
+  in_motion_timer: 2.0
+
+
+arm_controller:
+  type: position_controllers/JointTrajectoryController
+  joints:
+    - campero_ur10_shoulder_pan_joint
+    - campero_ur10_shoulder_lift_joint
+    - campero_ur10_elbow_joint
+    - campero_ur10_wrist_1_joint
+    - campero_ur10_wrist_2_joint
+    - campero_ur10_wrist_3_joint
+  constraints:
+    goal_time: 0.6
+    stopped_velocity_tolerance: 0.05
+    campero_ur10_shoulder_pan_joint: {trajectory: 0.1, goal: 0.1}
+    campero_ur10_shoulder_lift_joint: {trajectory: 0.1, goal: 0.1}
+    campero_ur10_elbow_joint: {trajectory: 0.1, goal: 0.1}
+    campero_ur10_wrist_1_joint: {trajectory: 0.1, goal: 0.1}
+    campero_ur10_wrist_2_joint: {trajectory: 0.1, goal: 0.1}
+    campero_ur10_wrist_3_joint: {trajectory: 0.1, goal: 0.1}
+  stop_trajectory_duration: 0.5
+  state_publish_rate: 25
+  action_monitor_rate: 10
+
+joint_read_state_controller:
+  type: joint_state_controller/JointStateController 
+  publish_rate: 100.0
+