Commit da6091d1 authored by Victor Lamoine's avatar Victor Lamoine
Browse files

Update for Melodic and simplify package

parent 5b643be9
image: ros:melodic-robot
before_script:
- git clone https://gitlab.com/VictorLamoine/ros_gitlab_ci.git
- source ros_gitlab_ci/gitlab-ci.bash >/dev/null
# catkin_make
catkin_make:
stage: build
script:
- catkin_make
# catkin tools
catkin_tools:
stage: build
script:
- catkin build --summarize --no-status --force-color
cmake_minimum_required(VERSION 3.5.0)
project(rviz_mesh_transparency)
find_package(catkin REQUIRED COMPONENTS
roslaunch
rviz
xacro
)
################################################
## Declare ROS messages, services and actions ##
################################################
################################################
## Declare ROS dynamic reconfigure parameters ##
################################################
###################################
## catkin specific configuration ##
###################################
catkin_package(
CATKIN_DEPENDS
roslaunch
rviz
xacro
)
###########
## Build ##
###########
#############
## Install ##
#############
## Mark other files for installation (e.g. launch and bag files, etc.)
install(
DIRECTORY
config
launch
meshes
urdf
DESTINATION
${CATKIN_PACKAGE_SHARE_DESTINATION}
)
#############
## Testing ##
#############
BSD-3-Clause-Attribution License
2016, Institut Maupertuis
2017, Institut Maupertuis
http://www.institutmaupertuis.fr
Contour Antoine de Saint Exupéry
Bruz, 35510, France
......
[![Institut Maupertuis logo](http://www.institutmaupertuis.fr/media/gabarit/logo.png)](http://www.institutmaupertuis.fr)
![eff](/eff.png)
[![build status](https://gitlab.com/InstitutMaupertuis/rviz_mesh_transparency/badges/melodic/build.svg)](https://gitlab.com/InstitutMaupertuis/rviz_mesh_transparency/commits/melodic)
Dependencies
---
- [Robot Operating System](http://wiki.ros.org/ROS/Installation)
- [fanuc](http://wiki.ros.org/fanuc)
This package has been tested with Ubuntu 16.04 and ROS Kinetic.
Testing
---
`catkin build` (or `catkin_make`)
`roslaunch fanuc_m10ia_test_support test_m10ia_test_eef.launch`
Issue
---
# RViz issue
https://github.com/ros-visualization/rviz/issues/995
Panels:
- Class: rviz/Displays
Help Height: 78
Help Height: 84
Name: Displays
Property Tree Widget:
Expanded: ~
Expanded:
- /RobotModel1
Splitter Ratio: 0.5
Tree Height: 359
Tree Height: 783
- Class: rviz/Selection
Name: Selection
- Class: rviz/Tool Properties
......@@ -14,11 +15,10 @@ Panels:
- /2D Nav Goal1
- /Publish Point1
Name: Tool Properties
Splitter Ratio: 0.588679016
Splitter Ratio: 0.5886790156364441
- Class: rviz/Views
Expanded:
- /Current View1
- /Current View1/Focal Point1
Name: Views
Splitter Ratio: 0.5
- Class: rviz/Time
......@@ -26,16 +26,18 @@ Panels:
Name: Time
SyncMode: 0
SyncSource: ""
Preferences:
PromptSaveOnExit: true
Visualization Manager:
Class: ""
Displays:
- Alpha: 0.5
Cell Size: 1
Cell Size: 0.10000000149011612
Class: rviz/Grid
Color: 160; 160; 164
Enabled: true
Line Style:
Line Width: 0.0299999993
Line Width: 0.029999999329447746
Value: Lines
Name: Grid
Normal Cell Count: 0
......@@ -57,58 +59,15 @@ Visualization Manager:
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
base:
Alpha: 1
Show Axes: false
Show Trail: false
base_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
eff_frame:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link_1:
robot:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link_2:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link_3:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link_4:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link_5:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link_6:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
test_eff_tcp:
Alpha: 1
Show Axes: false
Show Trail: false
tool0:
Alpha: 1
Show Axes: false
Show Trail: false
Name: RobotModel
Robot Description: robot_description
TF Prefix: ""
......@@ -118,7 +77,8 @@ Visualization Manager:
Enabled: true
Global Options:
Background Color: 48; 48; 48
Fixed Frame: base
Default Light: true
Fixed Frame: base_link
Frame Rate: 60
Name: root
Tools:
......@@ -139,32 +99,33 @@ Visualization Manager:
Views:
Current:
Class: rviz/Orbit
Distance: 0.36952433
Distance: 0.39961710572242737
Enable Stereo Rendering:
Stereo Eye Separation: 0.0599999987
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
X: 0.980740607
Y: 0.0209782515
Z: 0.80952245
X: -0.04444044828414917
Y: -0.01727001555263996
Z: 0.07496856898069382
Focal Shape Fixed Size: false
Focal Shape Size: 0.0199999996
Focal Shape Size: 0.019999999552965164
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.00999999978
Pitch: 0.56039834
Near Clip Distance: 0.009999999776482582
Pitch: 0.5203986167907715
Target Frame: <Fixed Frame>
Value: Orbit (rviz)
Yaw: 0.660388529
Yaw: 0.6554000973701477
Saved: ~
Window Geometry:
Displays:
collapsed: true
Height: 553
Hide Left Dock: true
"&Displays":
collapsed: false
Height: 1051
Hide Left Dock: false
Hide Right Dock: true
QMainWindow State: 000000ff00000000fd00000004000000000000013c000003d4fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730000000028000003d4000000dd00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000003dafc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000028000003da000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073f0000003efc0100000002fb0000000800540069006d006500000000000000073f0000030000fffffffb0000000800540069006d00650100000000000004500000000000000000000002aa000001e300000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
QMainWindow State: 000000ff00000000fd00000004000000000000016a000003b0fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000007601000003fb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000044000003b0000000f701000003fb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000003dafc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000028000003da000000d001000003fb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073f0000003efc0100000002fb0000000800540069006d006500000000000000073f000002ad01000003fb0000000800540069006d0065010000000000000450000000000000000000000615000003b000000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
......@@ -173,6 +134,6 @@ Window Geometry:
collapsed: false
Views:
collapsed: true
Width: 682
X: 359
Y: 109
Width: 1920
X: 0
Y: 0
cmake_minimum_required(VERSION 2.8.3)
project(eff_description)
find_package(catkin REQUIRED)
catkin_package()
foreach(dir launch meshes urdf)
install(
DIRECTORY ${dir}/
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/${dir})
endforeach()
<?xml version="1.0"?>
<launch>
<param name="robot_description" command="$(find xacro)/xacro.py '$(find eff_description)/urdf/eff.xacro'" />
</launch>
<?xml version="1.0"?>
<launch>
<include file="$(find eff_description)/launch/load_eff.launch" />
<param name="use_gui" value="true" />
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
<node name="rviz" pkg="rviz" type="rviz" args="-d $(find industrial_robot_client)/config/robot_state_visualize.rviz" required="true" />
</launch>
<?xml version="1.0"?>
<robot xmlns:xacro="http://ros.org/wiki/xacro" name="eff">
<xacro:include filename="$(find eff_description)/urdf/eff_macro.xacro"/>
<xacro:eff prefix=""/>
</robot>
<?xml version="1.0"?>
<robot xmlns:xacro="http://ros.org/wiki/xacro">
<xacro:macro name="eff" params="prefix">
<link name="${prefix}eff_frame">
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://eff_description/meshes/visual/eff.dae"/>
</geometry>
<material name="grey">
<color rgba="0.2 0.2 0.2 1"/>
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://eff_description/meshes/collision/eff.stl"/>
</geometry>
</collision>
</link>
</xacro:macro>
</robot>
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
Changelog for package fanuc_m10ia_support
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
0.4.1 (2016-06-17)
------------------
* use ``xacro`` instead of ``xacro.py`` (`#195 <https://github.com/ros-industrial/fanuc/issues/195>`_).
* remove roslaunch test dependencies (`#185 <https://github.com/ros-industrial/fanuc/issues/185>`_).
* add support for the M-10iA/7L variant (contributors: Jeremy Zoss (SwRI))
* for a complete list of changes see the `commit log for 0.4.1 <https://github.com/ros-industrial/fanuc/compare/0.4.0...0.4.1>`_.
0.4.0 (2015-10-11)
------------------
* first Indigo release.
* upgrade manifests to package format 2 (`#115 <https://github.com/ros-industrial/fanuc/issues/115>`_).
* general cleanup of XML files (launch, manifests, roslaunch tests, xacros).
* add ROS Index tags to package manifests (`#147 <https://github.com/ros-industrial/fanuc/issues/147>`_).
* document launch file arguments (`#165 <https://github.com/ros-industrial/fanuc/issues/165>`_).
* use multi-arg install rule instead of for-loop.
* use Roboguide colours for meshes where appropriate (`#166 <https://github.com/ros-industrial/fanuc/issues/166>`_).
* for a complete list of changes see the `commit log for 0.4.0 <https://github.com/ros-industrial/fanuc/compare/0.3.2...0.4.0>`_.
0.3.2 (2015-04-19)
------------------
* add readmes to all packages (`#153 <https://github.com/ros-industrial/fanuc/issues/153>`_).
* for a complete list of changes see the `commit log for 0.3.2 <https://github.com/ros-industrial/fanuc/compare/0.3.1...0.3.2>`_
0.3.1 (2015-01-21)
------------------
* no changes.
* for a complete list of changes see the `commit log for 0.3.1 <https://github.com/ros-industrial/fanuc/compare/0.3.0...0.3.1>`_
0.3.0 (2015-01-08)
------------------
* promote experimental packages for M-10iA, M-16iB, M-20iA, M-430iA and LR Mate 200iC to main repository.
* add info on specific config used for urdf/xacro (`#26 <https://github.com/ros-industrial/fanuc/issues/26>`_).
* explicitly declare dependencies of roslaunch tests (`#70 <https://github.com/ros-industrial/fanuc/issues/70>`_).
* add 'base' link (transform to World Coordinates) (`#101 <https://github.com/ros-industrial/fanuc/issues/101>`_).
* update urdfs based on DH data (`#54 <https://github.com/ros-industrial/fanuc/issues/54>`_ and `#63 <https://github.com/ros-industrial/fanuc/issues/63>`_).
* for a complete list of changes see the `commit log for 0.3.0 <https://github.com/ros-industrial/fanuc/compare/0.2.0...0.3.0>`_
0.2.0 (2014-02-19)
------------------
* first Hydro release.
* deprecate `fanuc_assets`, introduce `fanuc_resources`
* cleanup of all CMakeLists and package manifests:
* closing keywords should have empty parenthesis (`#62 <https://github.com/ros-industrial/fanuc/issues/62>`_)
* update CMakeLists to follow Catkin CMake coding standards (`#62 <https://github.com/ros-industrial/fanuc/issues/62>`_)
* list run_depends in alphabetical order (`#62 <https://github.com/ros-industrial/fanuc/issues/62>`_)
* add missing xacro run depends (`#67 <https://github.com/ros-industrial/fanuc/issues/67>`_)
* add missing depends to support pkgs (`#64 <https://github.com/ros-industrial/fanuc/issues/64>`_)
* ArmNav and support pkgs are architecture independent.
* update model specifications with available information.
* introduction of roslaunch testing of launch files:
* move roslaunch to build_depend (`#76 <https://github.com/ros-industrial/fanuc/issues/76>`_)
* test launchfiles with roslaunch (`#30 <https://github.com/ros-industrial/fanuc/issues/30>`_)
* prefix include elements with xacro ns (`#38 <https://github.com/ros-industrial/fanuc/issues/38>`_)
* for a complete list of changes see the `commit log for 0.2.0 <https://github.com/ros-industrial/fanuc/compare/0.1.1...0.2.0>`_
0.1.1 (2013-09-27)
------------------
* fixed missing dependency
0.1.0 (2013-09-16)
------------------
* initial Groovy release
cmake_minimum_required(VERSION 2.8.3)
project(fanuc_m10ia_support)
find_package(catkin REQUIRED)
catkin_package()
if (CATKIN_ENABLE_TESTING)
find_package(roslaunch REQUIRED)
roslaunch_add_file_check(tests/roslaunch_test_m10ia.xml)
roslaunch_add_file_check(tests/roslaunch_test_m10ia7l.xml)
endif()
install(DIRECTORY config launch meshes urdf
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
install(FILES readme.md DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
controller_joint_names: ['joint_1', 'joint_2', 'joint_3', 'joint_4', 'joint_5', 'joint_6']
controller_joint_names: ['joint_1', 'joint_2', 'joint_3', 'joint_4', 'joint_5', 'joint_6']
<?xml version="1.0"?>
<launch>
<param name="robot_description" command="$(find xacro)/xacro '$(find fanuc_m10ia_support)/urdf/m10ia.xacro'" />
</launch>
<?xml version="1.0"?>
<launch>
<param name="robot_description" command="$(find xacro)/xacro '$(find fanuc_m10ia_support)/urdf/m10ia7l.xacro'" />
</launch>
<?xml version="1.0"?>
<!--
Manipulator specific version of 'robot_interface_streaming.launch'.
Defaults provided for M-10iA:
- J23_factor = 1
- use_bswap = true
- 6 joints
Usage:
robot_interface_streaming_m10ia.launch robot_ip:=<value>
-->
<launch>
<arg name="robot_ip" doc="IP of controller" />
<arg name="J23_factor" default="1" doc="Compensation factor for joint 2-3 coupling (-1, 0 or 1)" />
<arg name="use_bswap" default="true" doc="If true, robot driver will byte-swap all incoming and outgoing data" />
<rosparam command="load" file="$(find fanuc_m10ia_support)/config/joint_names_m10ia.yaml" />
<include file="$(find fanuc_driver)/launch/robot_interface_streaming.launch">
<arg name="robot_ip" value="$(arg robot_ip)" />
<arg name="J23_factor" value="$(arg J23_factor)" />
<arg name="use_bswap" value="$(arg use_bswap)" />
</include>
</launch>
<?xml version="1.0"?>
<!--
Manipulator specific version of 'robot_interface_streaming.launch'.
Defaults provided for M-10iA/7L:
- J23_factor = 1
- use_bswap = true
- 6 joints
Usage:
robot_interface_streaming_m10ia7l.launch robot_ip:=<value>
-->
<launch>
<arg name="robot_ip" doc="IP of controller" />
<arg name="J23_factor" default="1" doc="Compensation factor for joint 2-3 coupling (-1, 0 or 1)" />
<arg name="use_bswap" default="true" doc="If true, robot driver will byte-swap all incoming and outgoing data" />
<rosparam command="load" file="$(find fanuc_m10ia_support)/config/joint_names_m10ia7l.yaml" />
<include file="$(find fanuc_driver)/launch/robot_interface_streaming.launch">
<arg name="robot_ip" value="$(arg robot_ip)" />
<arg name="J23_factor" value="$(arg J23_factor)" />
<arg name="use_bswap" value="$(arg use_bswap)" />
</include>
</launch>
<?xml version="1.0"?>
<!--
Manipulator specific version of the state visualizer.
Defaults provided for M-10iA:
- J23_factor = 1
- use_bswap = true
- 6 joints
Usage:
robot_state_visualize_m10ia.launch robot_ip:=<value>
-->
<launch>
<arg name="robot_ip" doc="IP of controller" />
<arg name="J23_factor" default="1" doc="Compensation factor for joint 2-3 coupling (-1, 0 or 1)" />
<arg name="use_bswap" default="true" doc="If true, robot driver will byte-swap all incoming and outgoing data" />
<rosparam command="load" file="$(find fanuc_m10ia_support)/config/joint_names_m10ia.yaml" />
<include file="$(find fanuc_driver)/launch/robot_state.launch">
<arg name="robot_ip" value="$(arg robot_ip)" />
<arg name="J23_factor" value="$(arg J23_factor)" />
<arg name="use_bswap" value="$(arg use_bswap)" />
</include>
<node name="robot_state_publisher" pkg="robot_state_publisher"
type="robot_state_publisher" />
<include file="$(find fanuc_m10ia_support)/launch/load_m10ia.launch" />
<node name="rviz" pkg="rviz" type="rviz" args="-d $(find industrial_robot_client)/config/robot_state_visualize.rviz" required="true" />
</launch>
<?xml version="1.0"?>
<!--
Manipulator specific version of the state visualizer.
Defaults provided for M-10iA/7L:
- J23_factor = 1
- use_bswap = true
- 6 joints
Usage:
robot_state_visualize_m10ia7l.launch robot_ip:=<value>
-->
<launch>
<arg name="robot_ip" doc="IP of controller" />
<arg name="J23_factor" default="1" doc="Compensation factor for joint 2-3 coupling (-1, 0 or 1)" />
<arg name="use_bswap" default="true" doc="If true, robot driver will byte-swap all incoming and outgoing data" />
<rosparam command="load" file="$(find fanuc_m10ia_support)/config/joint_names_m10ia7l.yaml" />
<include file="$(find fanuc_driver)/launch/robot_state.launch">
<arg name="robot_ip" value="$(arg robot_ip)" />
<arg name="J23_factor" value="$(arg J23_factor)" />
<arg name="use_bswap" value="$(arg use_bswap)" />
</include>
<node name="robot_state_publisher" pkg="robot_state_publisher"
type="robot_state_publisher" />
<include file="$(find fanuc_m10ia_support)/launch/load_m10ia7l.launch" />
<node name="rviz" pkg="rviz" type="rviz" args="-d $(find industrial_robot_client)/config/robot_state_visualize.rviz" required="true" />
</launch>
<?xml version="1.0"?>
<launch>
<include file="$(find fanuc_m10ia_support)/launch/load_m10ia.launch" />
<param name="use_gui" value="true" />
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
<node name="rviz" pkg="rviz" type="rviz" args="-d $(find industrial_robot_client)/config/robot_state_visualize.rviz" required="true" />
</launch>
<?xml version="1.0"?>
<launch>
<include file="$(find fanuc_m10ia_support)/launch/load_m10ia7l.launch" />
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" >
<param name="use_gui" value="true" />