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sajidanower23sajidanower23
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Merge pull request #119 from bluesat/RSC-2-science-module-sa
RSC-2 science module draft
2 parents e1a9566 + 5072857 commit ce425e9

14 files changed

Lines changed: 1212 additions & 874 deletions

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‎rover/src/owr_messages/CMakeLists.txt‎

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@@ -63,6 +63,7 @@ add_message_files(
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board.msg
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adc.msg
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stop.msg
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science.msg
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)
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## Generate services in the 'srv' folder
@@ -99,7 +100,7 @@ add_message_files(
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catkin_package(
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# INCLUDE_DIRS include
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# LIBRARIES owr_messages
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# CATKIN_DEPENDS message_runtime roscpp rospy sensor_msgs std_msgs
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CATKIN_DEPENDS message_runtime roscpp rospy sensor_msgs std_msgs
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# DEPENDS system_lib
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)
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## Add folders to be run by python nosetests
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# catkin_add_nosetests(test)
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‎rover/src/owr_messages/msg/science.msg‎

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uint32 temperature
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uint32 humidity
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float32 mag_x
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float32 mag_y
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float32 mag_z
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uint16 colour_temperature
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uint16 illuminance
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float32 weight
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uint16 moisture

‎rover/src/owr_messages/package.xml‎

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@@ -45,13 +45,14 @@
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<build_depend>sensor_msgs</build_depend>
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<build_depend>geometry_msgs</build_depend>
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<build_depend>std_msgs</build_depend>
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<run_depend>message_runtime</run_depend>
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<build_depend>message_generation</build_depend>
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<build_depend>message_runtime</build_depend>
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<run_depend>roscpp</run_depend>
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<run_depend>rospy</run_depend>
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<run_depend>sensor_msgs</run_depend>
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<run_depend>std_msgs</run_depend>
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<run_depend>geometry_msgs</run_depend>
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<run_depend>message_runtime</run_depend>
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<!-- The export tag contains other, unspecified, tags -->
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<export>

‎rover/src/owr_numbat_tf/CMakeLists.txt‎

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@@ -1,14 +1,14 @@
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cmake_minimum_required(VERSION 2.8.3)
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project(owr_numbat_tf)
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find_package(catkin REQUIRED)
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catkin_package()
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find_package(roslaunch)
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foreach(dir config launch meshes urdf)
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install(DIRECTORY ${dir}/
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DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/${dir})
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endforeach(dir)
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cmake_minimum_required(VERSION 2.8.3)
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project(owr_numbat_tf)
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find_package(catkin REQUIRED)
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catkin_package()
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find_package(roslaunch)
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foreach(dir config launch meshes urdf)
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install(DIRECTORY ${dir}/
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DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/${dir})
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endforeach(dir)

‎rover/src/owr_numbat_tf/config/joint_names_Assembly.SLDASM.yaml‎

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Original file line numberDiff line numberDiff line change
@@ -1 +1 @@
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controller_joint_names: ['front_left_swerve', 'front_left_rotate', 'back_left_swerve', 'back_left_Rotate', 'back_right_swerve', 'back_RIght_wheel_axel', 'front_right_swerve', 'front_right_Rotate', ]
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controller_joint_names: ['front_left_swerve', 'front_left_rotate', 'back_left_swerve', 'back_left_Rotate', 'back_right_swerve', 'back_RIght_wheel_axel', 'front_right_swerve', 'front_right_Rotate', ]

‎rover/src/owr_numbat_tf/launch/display.launch‎

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<launch>
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<arg
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name="model" />
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<arg
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name="gui"
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default="False" />
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<param
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name="robot_description"
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textfile="$(find owr_numbat_tf)/robots/owr_numbat_tf.urdf" />
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<param
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name="use_gui"
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value="$(arg gui)" />
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<node
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name="joint_state_publisher"
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pkg="joint_state_publisher"
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type="joint_state_publisher" />
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<node
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name="robot_state_publisher"
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pkg="robot_state_publisher"
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type="state_publisher" />
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<node
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name="rviz"
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pkg="rviz"
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type="rviz"
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args="-d $(find owr_numbat_tf)/urdf.rviz" />
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<launch>
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<arg
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name="model" />
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<arg
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name="gui"
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default="False" />
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<param
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name="robot_description"
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textfile="$(find owr_numbat_tf)/robots/owr_numbat_tf.urdf" />
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<param
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name="use_gui"
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value="$(arg gui)" />
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<node
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name="joint_state_publisher"
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pkg="joint_state_publisher"
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type="joint_state_publisher" />
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<node
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name="robot_state_publisher"
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pkg="robot_state_publisher"
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type="state_publisher" />
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<node
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name="rviz"
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pkg="rviz"
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type="rviz"
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args="-d $(find owr_numbat_tf)/urdf.rviz" />
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</launch>

‎rover/src/owr_numbat_tf/launch/gazebo.launch‎

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<launch>
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<rosparam file="$(find owr_bluetounge2_tf)/config/bluetounge_control.yaml" command="load"/>
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<include
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file="$(find gazebo_ros)/launch/empty_world.launch" />
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<node
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name="tf_footprint_base"
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pkg="tf"
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type="static_transform_publisher"
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args="0 0 0 0 0 0 base_link base_footprint 40" />
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<node
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name="spawn_model"
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pkg="gazebo_ros"
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type="spawn_model"
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args="-file $(find owr_numbat_tf)/robots/owr_numbat_tf.urdf -urdf -model owr_numbat_tf"
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output="screen" />
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<node
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name="fake_joint_calibration"
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pkg="rostopic"
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type="rostopic"
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args="pub /calibrated std_msgs/Bool true" />
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<!-- load the controllers -->
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<node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
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output="screen" ns="/"
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args="joint_state_controller laser_tilt_joint_controller front_left_wheel_axel_controller back_left_wheel_axel_controller front_right_wheel_axel_controller back_right_wheel_axel_controller front_left_swerve_controller back_left_swerve_controller front_right_swerve_controller back_right_swerve_controller "/>
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<!-- convert joint states to TF transforms for rviz, etc -->
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<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"
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respawn="false" output="screen"/>
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<launch>
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<rosparam file="$(find owr_bluetounge2_tf)/config/bluetounge_control.yaml" command="load"/>
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<include
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file="$(find gazebo_ros)/launch/empty_world.launch" />
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<node
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name="tf_footprint_base"
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pkg="tf"
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type="static_transform_publisher"
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args="0 0 0 0 0 0 base_link base_footprint 40" />
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<node
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name="spawn_model"
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pkg="gazebo_ros"
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type="spawn_model"
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args="-file $(find owr_numbat_tf)/robots/owr_numbat_tf.urdf -urdf -model owr_numbat_tf"
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output="screen" />
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<node
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name="fake_joint_calibration"
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pkg="rostopic"
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type="rostopic"
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args="pub /calibrated std_msgs/Bool true" />
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<!-- load the controllers -->
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<node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
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output="screen" ns="/"
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args="joint_state_controller laser_tilt_joint_controller front_left_wheel_axel_controller back_left_wheel_axel_controller front_right_wheel_axel_controller back_right_wheel_axel_controller front_left_swerve_controller back_left_swerve_controller front_right_swerve_controller back_right_swerve_controller "/>
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<!-- convert joint states to TF transforms for rviz, etc -->
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<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"
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respawn="false" output="screen"/>
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</launch>

‎rover/src/owr_numbat_tf/meshes/Front Left wheel.STL‎

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‎rover/src/owr_numbat_tf/package.xml‎

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<package>
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<name>owr_numbat_tf</name>
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<version>1.0.0</version>
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<description>
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<p>URDF Description package for owr_numbat_tf</p>
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<p>This package contains configuration data, 3D models and launch files
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for owr_numbat_tf robot</p>
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</description>
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<author>me</author>
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<maintainer email="info@bluesat.com" />
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<license>MIT</license>
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<buildtool_depend>catkin</buildtool_depend>
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<build_depend>roslaunch</build_depend>
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<run_depend>robot_state_publisher</run_depend>
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<run_depend>rviz</run_depend>
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<run_depend>joint_state_publisher</run_depend>
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<run_depend>gazebo</run_depend>
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<export>
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<architecture_independent />
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</export>
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<package>
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<name>owr_numbat_tf</name>
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<version>1.0.0</version>
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<description>
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<p>URDF Description package for owr_numbat_tf</p>
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<p>This package contains configuration data, 3D models and launch files
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for owr_numbat_tf robot</p>
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</description>
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<author>me</author>
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<maintainer email="info@bluesat.com" />
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<license>MIT</license>
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<buildtool_depend>catkin</buildtool_depend>
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<build_depend>roslaunch</build_depend>
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<run_depend>robot_state_publisher</run_depend>
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<run_depend>rviz</run_depend>
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<run_depend>joint_state_publisher</run_depend>
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<run_depend>gazebo</run_depend>
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<export>
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<architecture_independent />
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</export>
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</package>

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