From b5753551b371319ef7b07527b33179a97f17d4d7 Mon Sep 17 00:00:00 2001
From: Hilario Tome <hilario.tome@pal-robotics.com>
Date: Wed, 13 Jul 2016 18:07:00 +0200
Subject: [PATCH] Added tor bringup
---
tor_bringup/CMakeLists.txt | 5 ++++
tor_bringup/config/tor_hardware.yaml | 5 +++-
tor_bringup/launch/tor_bringup.launch | 13 +++++++++
tor_bringup/package.xml | 38 ++-------------------------
4 files changed, 24 insertions(+), 37 deletions(-)
create mode 100644 tor_bringup/launch/tor_bringup.launch
diff --git a/tor_bringup/CMakeLists.txt b/tor_bringup/CMakeLists.txt
index 3f69b6e..ca514ac 100644
--- a/tor_bringup/CMakeLists.txt
+++ b/tor_bringup/CMakeLists.txt
@@ -10,3 +10,8 @@ catkin_package(
# DEPENDS system_lib
)
+foreach(dir config launch)
+ install(DIRECTORY ${dir}/
+ DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/${dir})
+endforeach(dir)
+
diff --git a/tor_bringup/config/tor_hardware.yaml b/tor_bringup/config/tor_hardware.yaml
index 239febe..2002a4c 100644
--- a/tor_bringup/config/tor_hardware.yaml
+++ b/tor_bringup/config/tor_hardware.yaml
@@ -2,8 +2,11 @@ actuators:
raw_data:
position_port: act_position
effort_port: act_current
+ mode_port: act_control_mode
position_cmd_port: ref_position
- current_limit_cmd_port: ref_limit_current
+ effort_cmd_port: ref_current
+ mode_cmd_port: ref_control_mode
+ torque_sensor_port: act_torque
e_stop:
raw_data:
diff --git a/tor_bringup/launch/tor_bringup.launch b/tor_bringup/launch/tor_bringup.launch
new file mode 100644
index 0000000..834271b
--- /dev/null
+++ b/tor_bringup/launch/tor_bringup.launch
@@ -0,0 +1,13 @@
+<launch>
+ <arg name="robot" default="full_ft_hey5"/>
+
+ <!-- Load default controllers -->
+ <include file="$(find tor_controller_configuration)/launch/tor_default_controllers.launch" />
+
+ <!-- Robot state publisher -->
+ <node pkg="robot_state_publisher" type="state_publisher" name="robot_state_publisher">
+ <param name="publish_frequency" type="double" value="50.0" />
+ <param name="tf_prefix" type="string" value="" />
+ </node>
+
+</launch>
diff --git a/tor_bringup/package.xml b/tor_bringup/package.xml
index aea4547..0bb1ca3 100644
--- a/tor_bringup/package.xml
+++ b/tor_bringup/package.xml
@@ -4,47 +4,13 @@
<version>0.0.0</version>
<description>The tor_bringup package</description>
- <!-- One maintainer tag required, multiple allowed, one person per tag -->
- <!-- Example: -->
- <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
<maintainer email="hilario@todo.todo">hilario</maintainer>
-
- <!-- One license tag required, multiple allowed, one license per tag -->
- <!-- Commonly used license strings: -->
- <!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
<license>TODO</license>
-
- <!-- Url tags are optional, but mutiple are allowed, one per tag -->
- <!-- Optional attribute type can be: website, bugtracker, or repository -->
- <!-- Example: -->
- <!-- <url type="website">http://wiki.ros.org/tor_bringup</url> -->
-
-
- <!-- Author tags are optional, mutiple are allowed, one per tag -->
- <!-- Authors do not have to be maintianers, but could be -->
- <!-- Example: -->
- <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
-
-
- <!-- The *_depend tags are used to specify dependencies -->
- <!-- Dependencies can be catkin packages or system dependencies -->
- <!-- Examples: -->
- <!-- Use build_depend for packages you need at compile time: -->
- <!-- <build_depend>message_generation</build_depend> -->
- <!-- Use buildtool_depend for build tool packages: -->
- <!-- <buildtool_depend>catkin</buildtool_depend> -->
- <!-- Use run_depend for packages you need at runtime: -->
- <!-- <run_depend>message_runtime</run_depend> -->
- <!-- Use test_depend for packages you need only for testing: -->
- <!-- <test_depend>gtest</test_depend> -->
<buildtool_depend>catkin</buildtool_depend>
-
- <!-- The export tag contains other, unspecified, tags -->
<export>
- <!-- Other tools can request additional information be placed here -->
-
</export>
-</package>
\ No newline at end of file
+
+</package>
--
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