From e772daefdaf05e7050a7d5931f2c1f56f95b90b4 Mon Sep 17 00:00:00 2001
From: Olivier Stasse <ostasse@laas.fr>
Date: Wed, 7 Mar 2018 10:50:42 +0100
Subject: [PATCH] Add sot_pyrene_bringup in the metapkg talos.
---
sot_pyrene_bringup/CMakeLists.txt | 33 ++++++++++++++++
sot_pyrene_bringup/README.md | 16 ++++++++
.../launch/geometric_simu.launch | 25 ++++++++++++
.../launch/geometric_simu_context.launch | 39 +++++++++++++++++++
sot_pyrene_bringup/package.xml | 23 +++++++++++
sot_pyrene_bringup/sot/pyrene.yaml | 0
6 files changed, 136 insertions(+)
create mode 100644 sot_pyrene_bringup/CMakeLists.txt
create mode 100644 sot_pyrene_bringup/README.md
create mode 100644 sot_pyrene_bringup/launch/geometric_simu.launch
create mode 100644 sot_pyrene_bringup/launch/geometric_simu_context.launch
create mode 100644 sot_pyrene_bringup/package.xml
create mode 100644 sot_pyrene_bringup/sot/pyrene.yaml
diff --git a/sot_pyrene_bringup/CMakeLists.txt b/sot_pyrene_bringup/CMakeLists.txt
new file mode 100644
index 0000000..1e6cd93
--- /dev/null
+++ b/sot_pyrene_bringup/CMakeLists.txt
@@ -0,0 +1,33 @@
+cmake_minimum_required(VERSION 2.6)
+
+project(sot_pyrene_bringup)
+
+find_package(catkin REQUIRED)
+catkin_package()
+
+#set(PROJECT_NAME sot_talos_bringup)
+#set(PROJECT_DESCRIPTION ROS package for Stack of Tasks on Talos)
+#set(PROJECT_URL "")
+
+#setup_project()
+
+INSTALL(
+ FILES
+ DESTINATION ${CMAKE_INSTALL_DATAROOTDIR}/${PROJECT_NAME}/config
+)
+
+INSTALL(
+ FILES
+ launch/geometric-simu.launch
+ DESTINATION ${CMAKE_INSTALL_DATAROOTDIR}/${PROJECT_NAME}/launch
+)
+
+
+INSTALL(
+ FILES
+ package.xml
+ DESTINATION ${CMAKE_INSTALL_DATAROOTDIR}/${PROJECT_NAME}/
+)
+
+#setup_project_finalize()
+
diff --git a/sot_pyrene_bringup/README.md b/sot_pyrene_bringup/README.md
new file mode 100644
index 0000000..6801094
--- /dev/null
+++ b/sot_pyrene_bringup/README.md
@@ -0,0 +1,16 @@
+Launching geometric_simu with Talos
+===================================
+
+1/ Lancer ros et le simulateur geometric
+roslaunch sot_pyrene_bringup geometric_simu.launch
+
+2/ Lancer la connection a dynamic_graph_bridge
+rosrun dynamic_graph_bridge run_command
+
+3/ Construire son graphe dans la commande
+
+4/ Demarrer la commande
+rosservice call /start_dynamic_graph
+
+5/ Lancer rviz
+rosrun rviz rviz
diff --git a/sot_pyrene_bringup/launch/geometric_simu.launch b/sot_pyrene_bringup/launch/geometric_simu.launch
new file mode 100644
index 0000000..162b23c
--- /dev/null
+++ b/sot_pyrene_bringup/launch/geometric_simu.launch
@@ -0,0 +1,25 @@
+<!-- -*-xml-*-
+ Handle ROS simulation of the SoT.
+ -->
+<launch>
+ <!-- Which robot are we controlling ? -->
+ <arg name="robot" default="pyrene" />
+ <arg name="libsot" default="libsot-pyrene-controller.so" />
+
+ <include file="$(find sot_pyrene_bringup)/launch/geometric_simu_context.launch" >
+ <arg name="robot" value="$(arg robot)" />
+ <arg name="libsot" value="$(arg libsot)" />
+ </include>
+
+ <!-- Load Stack of Tasks. -->
+ <node machine="geometric_simu_machine"
+ name="node_stack_of_tasks"
+ pkg="dynamic_graph_bridge"
+ type="geometric_simu"
+ args=" --input-file $(arg libsot)"
+ respawn="true">
+ <param name="/sot/dg/geometric_simu" value="" />
+ </node>
+
+
+</launch>
diff --git a/sot_pyrene_bringup/launch/geometric_simu_context.launch b/sot_pyrene_bringup/launch/geometric_simu_context.launch
new file mode 100644
index 0000000..7eb2f75
--- /dev/null
+++ b/sot_pyrene_bringup/launch/geometric_simu_context.launch
@@ -0,0 +1,39 @@
+<!-- -*-xml-*-
+ Handle ROS simulation of the SoT.
+ -->
+<launch>
+ <!-- Which robot are we controlling ? -->
+ <arg name="robot" default="pyrene" />
+ <arg name="libsot" default="libsot-pyrene-controller.so" />
+
+ <!-- BTW we are in simulation ? -->
+
+ <!-- Load robot model. -->
+ <param name="robot_description"
+ textfile="$(find talos_data)/urdf/talos_reduced.urdf" />
+
+ <machine name="geometric_simu_machine"
+ address="localhost">
+ </machine >
+
+ <!--
+ Read joint_states topic and publish link positions to tf.
+
+ openhrp_bridge publishes encoder values to the joint_states topic
+ therefore, this provide the most reliable way of identifying link
+ relative position on HRP-2.
+ -->
+ <node name="robot_state_publisher"
+ pkg="robot_state_publisher"
+ type="state_publisher"
+ respawn="true">
+ <param name="tf_prefix" value="" />
+ </node>
+
+
+ <!-- Buffer Server -->
+ <node pkg="tf2_ros" type="buffer_server"
+ name="tf2_buffer_server" respawn="true">
+ <param name="buffer_size" value="120.0"/>
+ </node>
+</launch>
diff --git a/sot_pyrene_bringup/package.xml b/sot_pyrene_bringup/package.xml
new file mode 100644
index 0000000..786d79f
--- /dev/null
+++ b/sot_pyrene_bringup/package.xml
@@ -0,0 +1,23 @@
+<package>
+ <name>sot_pyrene_bringup</name>
+ <version>0.0.1</version>
+ <description>ROS package for Stack of Tasks on Pyrene</description>
+
+ <maintainer email="ostasse@laas.fr">Olivier Stasse</maintainer>
+
+ <license>BSD</license>
+
+ <url type="website">http://redmine.laas.fr/</url>
+ <author>Olivier Stasse</author>
+
+ <buildtool_depend>catkin</buildtool_depend>
+
+ <build_depend>roscpp</build_depend>
+ <build_depend>talos_description</build_depend>
+
+ <run_depend>roscpp</run_depend>
+ <run_depend>talos_description</run_depend>
+
+ <export>
+ </export>
+</package>
diff --git a/sot_pyrene_bringup/sot/pyrene.yaml b/sot_pyrene_bringup/sot/pyrene.yaml
new file mode 100644
index 0000000..e69de29
--
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