talos_roscontrol_sot_talos/launch/sot_talos_controller_gazebo_effort.launch → roscontrol_sot_talos/launch/sot_talos_controller_gazebo_effort.launch

 <launch>
 
   <!-- Sot Controller configuration -->
-  <rosparam command="load" file="$(find talos_roscontrol_sot_talos)/config/sot_talos_params_gazebo_effort.yaml"/>
+  <rosparam command="load" file="$(find roscontrol_sot_talos)/config/sot_talos_params_gazebo_effort.yaml"/>
+  <rosparam command="load" file="$(find roscontrol_sot_talos)/config/sot_talos_params_control_mode_effort.yaml"/>
   <rosparam command="load" ns="/sot_controller/effort_control_pd_motor_init" file="$(find talos_hardware_gazebo)/config/pids.yaml"/>
-  <rosparam command="load" file="$(find talos_roscontrol_sot_talos)/config/sot_talos_controller.yaml" />
-  
+  <rosparam command="load" file="$(find roscontrol_sot_talos)/config/sot_talos_controller.yaml" />
+
   <!-- Spawn sot controller -->
   <node name="sot_controller_spawner"
-        pkg="talos_controller_manager" type="spawner" output="screen"
+        pkg="controller_manager" type="spawner" output="screen"
         args="sot_controller" />
 
 </launch>
-

talos_roscontrol_sot_talos/package.xml → roscontrol_sot_talos/package.xml

 <?xml version="1.0"?>
 <package>
-  <name>talos_roscontrol_sot_talos</name>
-  <version>0.0.7</version>
+  <name>roscontrol_sot_talos</name>
+  <version>0.3.1</version>
   <description>Wrapping Stack-of-tasks for Talos in ros-control</description>
 
-  <!-- Maintainer email --> 
+  <!-- Maintainer email -->
   <maintainer email="ostasse@laas.fr">Olivier Stasse</maintainer>
 
 
@@ -42,6 +42,8 @@
   <build_depend>realtime_tools</build_depend>
   <build_depend>cmake_modules</build_depend>
   <build_depend>roscontrol_sot</build_depend>
+  <build_depend>controller_interface</build_depend>
+  <build_depend>sot-talos</build_depend>
 
   <run_depend>roscpp</run_depend>
   <run_depend>control_msgs</run_depend>
@@ -51,5 +53,7 @@
   <run_depend>std_msgs</run_depend>
   <run_depend>cmake_modules</run_depend>
   <run_depend>roscontrol_sot</run_depend>
+  <run_depend>controller_interface</run_depend>
+  <run_depend>sot-talos</run_depend>
   <!-- The export tag contains other, unspecified, tags -->
 </package>

roscontrol_sot_talos/scripts/republish

+#!/usr/bin/env python
+# license removed for brevity
+import rospy
+import tf
+from dynamic_graph_bridge_msgs.msg import Vector
+from sensor_msgs.msg import JointState
+import sys
+
+# Arg 1
+input_topic = "/robotState"
+# Arg 2
+output_topic = "/sot/joint_state"
+# Arg 3
+publish_root_wrt_odom = False
+if len(sys.argv) > 1:
+    input_topic = sys.argv[1]
+    if len(sys.argv) > 2:
+        output_topic = sys.argv[2]
+        if len(sys.argv) > 3:
+            publish_root_wrt_odom = sys.argv[3].lower() in ("true", "on")
+
+rospy.init_node("sot_reemitter", anonymous=True)
+pub = rospy.Publisher(output_topic, JointState, queue_size=10)
+
+seqnb = 0
+aJS = JointState()
+
+if publish_root_wrt_odom:
+    if output_topic.find("/") >= 0:
+        output_prefix = output_topic.rsplit("/", 1)[0] + "/"
+    else:
+        output_prefix = ""
+    rospy.loginfo(
+        "Will publish "
+        + output_prefix
+        + "base_link with respect to "
+        + output_prefix
+        + "odom"
+    )
+
+jointnames = rospy.get_param("/sot_controller/joint_names")
+
+
+def jointreceived(jstates):
+    global seqnb
+    seqnb = seqnb + 1
+    time = rospy.Time.now()
+    aJS.header.seq = seqnb
+    aJS.header.stamp = time
+    aJS.header.frame_id = "base_link"
+    aJS.name = jointnames
+    aJS.position = jstates.data[6:]
+    aJS.velocity = []
+    aJS.effort = []
+    pub.publish(aJS)
+
+    if publish_root_wrt_odom and len(jstates.data) > 6:
+        br = tf.TransformBroadcaster()
+        br.sendTransform(
+            jstates.data[0:3],
+            tf.transformations.quaternion_from_euler(
+                jstates.data[3], jstates.data[4], jstates.data[5]
+            ),
+            time,
+            output_prefix + "base_link",
+            output_prefix + "odom",
+        )
+
+
+def listener():
+    rospy.Subscriber(input_topic, Vector, jointreceived)
+    rospy.spin()
+
+
+if __name__ == "__main__":
+    try:
+        listener()
+    except rospy.ROSInterruptException:
+        pass

roscontrol_sot_talos/scripts/start_talos_gazebo.py

+#!/usr/bin/env python
+# O. Stasse 17/01/2020
+# LAAS, CNRS
+
+import rospy
+import time
+import roslaunch
+import rospkg
+
+from std_srvs.srv import Empty
+
+# Start roscore
+import subprocess
+
+roscore = subprocess.Popen("roscore")
+time.sleep(1)
+
+# Get the path to talos_data
+arospack = rospkg.RosPack()
+talos_data_path = arospack.get_path("talos_data")
+
+# Start talos_gazebo
+rospy.init_node("starting_talos_gazebo", anonymous=True)
+uuid = roslaunch.rlutil.get_or_generate_uuid(None, False)
+roslaunch.configure_logging(uuid)
+
+cli_args = [
+    talos_data_path + "/launch/talos_gazebo_alone.launch",
+    "world:=empty_forced",
+    "enable_leg_passive:=false",
+]
+roslaunch_args = cli_args[1:]
+roslaunch_file = [
+    (roslaunch.rlutil.resolve_launch_arguments(cli_args)[0], roslaunch_args)
+]
+
+launch_gazebo_alone = roslaunch.parent.ROSLaunchParent(uuid, roslaunch_file)
+launch_gazebo_alone.start()
+rospy.loginfo("talos_gazebo_alone started")
+
+rospy.wait_for_service("/gazebo/pause_physics")
+gazebo_pause_physics = rospy.ServiceProxy("/gazebo/pause_physics", Empty)
+gazebo_pause_physics()
+
+time.sleep(5)
+# Spawn talos model in gazebo
+launch_gazebo_spawn_hs = roslaunch.parent.ROSLaunchParent(
+    uuid, [talos_data_path + "/launch/talos_gazebo_spawn_hs.launch"]
+)
+# launch_gazebo_spawn_hs = roslaunch.parent.ROSLaunchParent(
+# uuid, [talos_data_path + "/launch/talos_gazebo_spawn_hs_wide.launch"]
+# )
+launch_gazebo_spawn_hs.start()
+# rospy.loginfo("talos_gazebo_spawn_hs started")
+
+rospy.wait_for_service("/gains/arm_left_1_joint/set_parameters")
+time.sleep(5)
+gazebo_unpause_physics = rospy.ServiceProxy("/gazebo/unpause_physics", Empty)
+gazebo_unpause_physics()
+
+# Start roscontrol
+launch_bringup = roslaunch.parent.ROSLaunchParent(
+    uuid, [talos_data_path + "/launch/talos_bringup.launch"]
+)
+launch_bringup.start()
+rospy.loginfo("talos_bringup started")
+
+# Start sot
+roscontrol_sot_talos_path = arospack.get_path("roscontrol_sot_talos")
+launch_roscontrol_sot_talos = roslaunch.parent.ROSLaunchParent(
+    uuid, [roscontrol_sot_talos_path + "/launch/sot_talos_controller_gazebo.launch"]
+)
+launch_roscontrol_sot_talos.start()
+rospy.loginfo("roscontrol_sot_talos started")
+
+rospy.spin()

roscontrol_sot_talos/scripts/start_talos_gazebo_16_04.py

+#!/usr/bin/env python2.7
+# O. Stasse 17/01/2020
+# LAAS, CNRS
+
+# This file is a temporary fix for the ubuntu version 16.04 of the script
+# start_talos_gazebo.py.
+# The path to talos_data cannot be retreive using the rospkg.RosPack() and
+# get_path('talos_data') in 16.04.
+# This should be investigated (see issue #4 "Hardcoded talos_data path for 16.04 in
+# script start_talos_gazebo_16_04.py").
+
+import rospy
+import time
+import roslaunch
+from std_srvs.srv import Empty
+
+# Start roscore
+import subprocess
+
+roscore = subprocess.Popen("roscore")
+time.sleep(1)
+
+# Start talos_gazebo
+rospy.init_node("starting_talos_gazebo", anonymous=True)
+uuid = roslaunch.rlutil.get_or_generate_uuid(None, False)
+roslaunch.configure_logging(uuid)
+
+launch_gazebo_alone = roslaunch.parent.ROSLaunchParent(
+    uuid, ["/opt/openrobots/share/talos_data/launch/talos_gazebo_alone.launch"]
+)
+launch_gazebo_alone.start()
+rospy.loginfo("talos_gazebo_alone started")
+
+rospy.wait_for_service("/gazebo/pause_physics")
+gazebo_pause_physics = rospy.ServiceProxy("/gazebo/pause_physics", Empty)
+gazebo_pause_physics()
+
+time.sleep(3)
+# Spawn talos model in gazebo
+launch_gazebo_spawn_hs = roslaunch.parent.ROSLaunchParent(
+    uuid, ["/opt/openrobots/share/talos_data/launch/talos_gazebo_spawn_hs.launch"]
+)
+launch_gazebo_spawn_hs.start()
+rospy.loginfo("talos_gazebo_spawn_hs started")
+
+rospy.wait_for_service("/gains/arm_left_1_joint/set_parameters")
+time.sleep(3)
+gazebo_unpause_physics = rospy.ServiceProxy("/gazebo/unpause_physics", Empty)
+gazebo_unpause_physics()
+
+# Start roscontrol
+launch_bringup = roslaunch.parent.ROSLaunchParent(
+    uuid, ["/opt/openrobots/share/talos_data/launch/talos_bringup.launch"]
+)
+launch_bringup.start()
+rospy.loginfo("talos_bringup started")
+
+# # Start sot
+# Start sot in another terminal with "roslaunch roscontrol_sot_talos
+# sot_talos_controller_gazebo.launch".
+# in order to have the logs saved. Otherwise the data are not correctly dumped when the
+# process is killed.
+
+
+rospy.spin()

setup.cfg

+[flake8]
+exclude = cmake
+max-line-length = 88
+extend-ignore = E203

sot_pyrene_bringup/CMakeLists.txt

@@ -5,35 +5,19 @@ 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 ${CATKIN_PACKAGE_SHARE_DESTINATION}/config
-)
-
-INSTALL(
-  FILES
-  launch/geometric_simu.launch
-  launch/geometric_simu_context.launch
-  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch
-)
-
-INSTALL(
-  FILES
-  sot/pyrene.yaml
-  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/sot
-)
-
-INSTALL(
-  FILES
-  package.xml
-  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/
-)
-
-#setup_project_finalize()
+# 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 ${CATKIN_PACKAGE_SHARE_DESTINATION}/config)
+
+install(FILES launch/geometric_simu.launch launch/geometric_simu_context.launch
+        DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch)
+
+install(FILES sot/pyrene.yaml
+        DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/sot)
+
+install(FILES package.xml DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/)
+
+# setup_project_finalize()

sot_pyrene_bringup/launch/geometric_simu.launch

@@ -4,22 +4,21 @@
 <launch>
   <!-- Which robot are we controlling ? -->
   <arg name="robot" default="pyrene" />
-  <arg name="libsot" default="libsot-pyrene-controller.so" />   
+  <arg name="libsot" default="libsot-pyrene-controller.so" />
 
-  <arg name="sot-launch-prefix" default="" />   
+  <arg name="sot-launch-prefix" default="" />
 
   <include file="$(find sot_pyrene_bringup)/launch/geometric_simu_context.launch" >
-    <arg name="robot" value="$(arg robot)" />       
+    <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" 
+  <node machine="geometric_simu_machine"
+        name="node_stack_of_tasks"
 	pkg="dynamic_graph_bridge"
 	type="geometric_simu"
-        args=" --input-file $(arg libsot)" 
-
+        args=" --input-file $(arg libsot)"
         launch-prefix="$(arg sot-launch-prefix)"
 	respawn="true">
     <param name="/sot/dg/geometric_simu" value="" />

sot_pyrene_bringup/launch/geometric_simu_context.launch

@@ -4,22 +4,21 @@
 <launch>
   <!-- Which robot are we controlling ? -->
   <arg name="robot" default="pyrene" />
-  <arg name="libsot" default="libsot-pyrene-controller.so" />   
+  <arg name="libsot" default="libsot-pyrene-controller.so" />
 
   <!-- BTW we are in simulation ? -->
 
    <!-- Load robot model. -->
   <param name="robot_description"
-	 textfile="$(find talos_data)/urdf/talos_reduced.urdf" />
+	 textfile="$(find talos_data)/urdf/pyrene.urdf" />
 
 
    <!-- Load robot sot params. -->
   <rosparam command="load"
 	 file="$(find sot_pyrene_bringup)/sot/pyrene.yaml" />
-  
+
   <machine name="geometric_simu_machine"
-           address="localhost">
-  </machine >
+    address="localhost" />
 
   <!--
      Read joint_states topic and publish link positions to tf.
@@ -30,7 +29,7 @@
     -->
   <node name="robot_state_publisher"
 	pkg="robot_state_publisher"
-	type="state_publisher"
+	type="robot_state_publisher"
 	respawn="true">
     <param name="tf_prefix" value="" />
   </node>

sot_pyrene_bringup/package.xml

 <package>
   <name>sot_pyrene_bringup</name>
-  <version>0.0.7</version>
+  <version>0.3.1</version>
   <description>ROS package for Stack of Tasks on Pyrene</description>
 
   <maintainer email="ostasse@laas.fr">Olivier Stasse</maintainer>

sot_pyrene_bringup/sot/pyrene.yaml

 sot:
-  state_vector_map: [leg_left_1_joint, leg_left_2_joint, leg_left_3_joint, leg_left_4_joint, leg_left_5_joint, leg_left_6_joint, 
-    leg_right_1_joint, leg_right_2_joint, leg_right_3_joint, leg_right_4_joint, leg_right_5_joint, leg_right_6_joint, 
+  state_vector_map: [leg_left_1_joint, leg_left_2_joint, leg_left_3_joint, leg_left_4_joint, leg_left_5_joint, leg_left_6_joint,
+    leg_right_1_joint, leg_right_2_joint, leg_right_3_joint, leg_right_4_joint, leg_right_5_joint, leg_right_6_joint,
     torso_1_joint, torso_2_joint,
     arm_left_1_joint, arm_left_2_joint, arm_left_3_joint, arm_left_4_joint, arm_left_5_joint, arm_left_6_joint, arm_left_7_joint, gripper_left_joint,
     arm_right_1_joint, arm_right_2_joint, arm_right_3_joint, arm_right_4_joint, arm_right_5_joint, arm_right_6_joint, arm_right_7_joint, gripper_right_joint,
@@ -18,4 +18,10 @@ sot:
     gripper_right_inner_single_joint: -gripper_right_joint,
     gripper_right_fingertip_3_joint: -gripper_right_joint}
 sot_controller:
+  joint_names: [ leg_left_1_joint, leg_left_2_joint, leg_left_3_joint, leg_left_4_joint, leg_left_5_joint, leg_left_6_joint,
+    leg_right_1_joint, leg_right_2_joint, leg_right_3_joint, leg_right_4_joint, leg_right_5_joint, leg_right_6_joint,
+    torso_1_joint,torso_2_joint,
+    arm_left_1_joint, arm_left_2_joint, arm_left_3_joint, arm_left_4_joint, arm_left_5_joint, arm_left_6_joint, arm_left_7_joint, gripper_left_joint,
+    arm_right_1_joint, arm_right_2_joint, arm_right_3_joint, arm_right_4_joint, arm_right_5_joint, arm_right_6_joint, arm_right_7_joint, gripper_right_joint, head_1_joint, head_2_joint
+  ]
   dt: 0.001

talos_metapkg_ros_control_sot/package.xml

 <package>
   <name>talos_metapkg_ros_control_sot</name>
-  <version>0.0.7</version>
+  <version>0.3.1</version>
   <description>A set of packages that include sot-wrapper and talos sot params .</description>
 
   <maintainer email="olivier.stasse@laas.fr">Olivier Stasse</maintainer>
 
   <license>BSD</license>
 
-  <url type="repository">https://github.com/stack-of-tasks/roscontrol_sot</url>
+  <url type="repository">https://github.com/stack-of-tasks/talos_metapkg_roscontrol_sot</url>
 
   <author>Olivier Stasse</author>
 
   <buildtool_depend>catkin</buildtool_depend>
 
-  <run_depend>talos_roscontrol_sot</run_depend>
-  <run_depend>talos_roscontrol_sot_talos</run_depend>
+  <run_depend>roscontrol_sot</run_depend>
+  <run_depend>roscontrol_sot_talos</run_depend>
   <run_depend>realtime_tools</run_depend>
   <run_depend>control_toolbox</run_depend>
 

talos_roscontrol_sot_talos/CMakeLists.txt

-cmake_minimum_required(VERSION 2.8.3)
-project(talos_roscontrol_sot_talos)
-
-find_package(PkgConfig REQUIRED)
-
-set(bullet_FOUND 0)
-pkg_check_modules(bullet REQUIRED bullet)
-
-## Find catkin macros and libraries
-## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
-## is used, also find other catkin packages
-find_package(catkin REQUIRED COMPONENTS
-  roscpp
-  rospy
-  std_msgs
-  dynamic_graph_bridge
-  control_msgs
-  sensor_msgs
-  realtime_tools
-  controller_interface
-)
-
-include_directories(include ${bullet_INCLUDE_DIRS} ${catkin_INCLUDE_DIRS})
-
-link_directories(${bullet_LIBRARY_DIRS})
-
-catkin_package()
-
-###########
-## Build ##
-###########
-
-## Specify additional locations of header files
-## Your package locations should be listed before other locations
-# include_directories(include)
-include_directories( 
-  ${catkin_INCLUDE_DIRS}
-  )
-
-
-## Add cmake target dependencies of the executable
-## same as for the library above
-# add_dependencies(roscontrol_sot_talos_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
-
-
-
-#############
-## Install ##
-#############
-
-# all install targets should use catkin DESTINATION variables
-# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
-
-## Mark executable scripts (Python etc.) for installation
-## in contrast to setup.py, you can choose the destination
-# install(PROGRAMS
-#   scripts/my_python_script
-#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-# )
-
-## Mark executables and/or libraries for installation
-foreach(dir config launch)
-  install(DIRECTORY ${dir}
-    DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
-  )
-endforeach()
-
-
-#############
-## Testing ##
-#############
-
-## Add gtest based cpp test target and link libraries
-# catkin_add_gtest(${PROJECT_NAME}-test test/test_roscontrol_sot_talos.cpp)
-# if(TARGET ${PROJECT_NAME}-test)
-#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
-# endif()
-
-## Add folders to be run by python nosetests
-# catkin_add_nosetests(test)

talos_roscontrol_sot_talos/config/sot_talos_params.yaml

-sot_controller:
-  libname: libsot-pyrene-controller.so
-  joint_names: [ leg_left_1_joint, leg_left_2_joint, leg_left_3_joint, leg_left_4_joint, leg_left_5_joint, leg_left_6_joint,
-    leg_right_1_joint, leg_right_2_joint, leg_right_3_joint, leg_right_4_joint, leg_right_5_joint, leg_right_6_joint,
-    torso_1_joint,torso_2_joint,head_1_joint, head_2_joint,
-    arm_left_1_joint, arm_left_2_joint, arm_left_3_joint, arm_left_4_joint, arm_left_5_joint, arm_left_6_joint, arm_left_7_joint, gripper_left_joint,
-    arm_right_1_joint, arm_right_2_joint, arm_right_3_joint, arm_right_4_joint, arm_right_5_joint, arm_right_6_joint, arm_right_7_joint, gripper_right_joint
-  ]
-  map_rc_to_sot_device: { motor-angles: motor-angles ,
-  joint-angles: joint-angles, velocities: velocities,
-  torques: torques, cmd-positions: control, cmd-effort: control }
-  control_mode: POSITION
-  dt: 0.001

talos_roscontrol_sot_talos/config/sot_talos_params_gazebo.yaml

-sot_controller:
-  libname: libsot-pyrene-controller.so
-  simulation_mode: gazebo
-  joint_names: [ leg_left_1_joint, leg_left_2_joint, leg_left_3_joint, leg_left_4_joint, leg_left_5_joint, leg_left_6_joint,
-    leg_right_1_joint, leg_right_2_joint, leg_right_3_joint, leg_right_4_joint, leg_right_5_joint, leg_right_6_joint,
-    torso_1_joint,torso_2_joint,
-    arm_left_1_joint, arm_left_2_joint, arm_left_3_joint, arm_left_4_joint, arm_left_5_joint, arm_left_6_joint, arm_left_7_joint, gripper_left_joint,
-    arm_right_1_joint, arm_right_2_joint, arm_right_3_joint, arm_right_4_joint, arm_right_5_joint, arm_right_6_joint, arm_right_7_joint, gripper_right_joint,
-    head_1_joint, head_2_joint ]
-  map_rc_to_sot_device: { motor-angles: motor-angles ,
-  joint-angles: joint-angles, velocities: velocities,
-  torques: torques, cmd-joints: control, cmd-effort: control }
-  control_mode: POSITION
-  dt: 0.001
\ No newline at end of file

talos_roscontrol_sot_talos/scripts/republish.py

-#!/usr/bin/env python
-# license removed for brevity
-import rospy
-from dynamic_graph_bridge_msgs.msg import Vector
-from sensor_msgs.msg import JointState
-
-rospy.init_node('sot_reemitter', anonymous=True)
-pub = rospy.Publisher('/sot/joint_state', String, queue_size=10)
-    
-aJS = JointState()
-   
-def jointreceived(jstates):
-    aJS.header.seq = seqnb
-    pub.publish(hello_str)
-    seqnb = seqnb+1
-    seqnb.stamp = ros::Time::now()
-    seqnb.frameid = "base_link"
-    seqnb.name = "joint_state"
-    seqnb.position = jstates.data[6:]
-    seqnb.velocity = []
-    seqnb.effort = []
-
-def listener():
-    rospy.Subscriber("/sot_hpp/state", Vector, jointreceived)
-    ros.spin()
-    
-if __name__ == '__main__':
-    try:
-        listener()
-    except rospy.ROSInterruptException:
-        pass
-