Merge pull request #178 from IFL-CAMP/development

iiwa_stack 1.3

.clang-format

@@ -0,0 +1,66 @@
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+BreakBeforeBraces: Custom
+
+# Control of individual brace wrapping cases
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.gitignore

@@ -1,4 +1,4 @@
-# Lines that start with '#' are comments.
+# Lines that start with '#' are comments.
 
 # Backup and data files
 eg/eg.*
@@ -62,6 +62,9 @@ CVS/*
 */*/*/CVS/*
 *.cvsignore
 
+# Vim files
+*.swp
+
 # Other files
 working/
 Status API Training Shop Blog About

.travis.yml

@@ -1,18 +1,17 @@
-sudo: required
-
-language: generic
-
-services:
-  - docker
-
-env:
-  global:
-    - toolset_branch: master
-    - server_type: travis
-    - ros_release_name: kinetic
-    - ubuntu_version_name: xenial
-    - used_modules: check_cache,build
-    - remote_shell_script: 'https://raw.githubusercontent.com/shadow-robot/sr-build-tools/$toolset_branch/bin/sr-run-ci-build.sh'
-
-script:
-  - curl -s "$( echo "$remote_shell_script" | sed 's/#/%23/g' )" | bash -x /dev/stdin "$toolset_branch" $server_type $used_modules
+sudo: required
+dist: trusty
+language: generic
+
+services:
+  - docker
+
+env:
+  matrix:
+    - ROS_DISTRO=kinetic
+    - ROS_DISTRO=melodic
+
+script:
+  - export SOURCE_PATH=$(pwd)
+  - echo "Testing iiwa_stack on ROS '$ROS_DISTRO'"
+  - docker pull ros:$ROS_DISTRO-robot > /dev/null
+  - docker run -e SOURCE_PATH -v $(pwd):/root/iiwa_stack_ws/src -it ros:$ROS_DISTRO-robot /bin/bash -c "cd /root/iiwa_stack_ws/src; source .travis/ci.sh"

.travis/ci.sh

@@ -0,0 +1,14 @@
+#!/bin/bash
+
+# Software License Agreement - BSD License
+#
+# Inspired by MoveIt! CI https://github.com/ros-planning/moveit_ci/blob/master/travis.sh
+# Author:  Salvo Virga
+
+apt-get -qq update
+apt-get -qq dist-upgrade
+rosdep update 
+apt-get -y install python-catkin-tools
+cd /root/iiwa_stack_ws 
+rosdep install --from-paths src --ignore-src -r -y
+catkin build --no-status --summarize

README.md

@@ -1,20 +1,20 @@
 ## IIWA STACK
 ROS Indigo/Kinetic metapackage for the KUKA LBR IIWA R800/R820 (7/14 Kg).
 
-**Current version : v-1.2.0 for Sunrise 1.10 - 1.14**   
+**Current version : v-1.3.0 for Sunrise 1.10 - 1.16**    
 [Using a previous version of Sunrise?](https://github.com/SalvoVirga/iiwa_stack/wiki/FAQ#which-version-of-sunriseossunrise-workbench-is-supported)    
 
 [![Build Status](https://travis-ci.org/IFL-CAMP/iiwa_stack.svg?branch=master)](https://travis-ci.org/IFL-CAMP/iiwa_stack)
-
+___
 ### Features
 - Native ROSJava nodes running on the robot as a Sunrise RoboticApplication: supports ROS parameters, topics, services, etc.
-- Integration of KUKA's SmartServo motions:
+- Integration of KUKA's SmartServo and PTP motions:
   - joint position, joint velocity and cartesian position control via simple ROS messages. 
   - online configuration of JointImpedance, CartesianImpedance, DesiredForce and Sine(Force)Pattern via ROS service.
-  - online configuration of joint velocity and acceleration via ROS service.
+  - online configuration of joint/cartesian velocity and acceleration via ROS service.
   - updates on the time left to reach the commanded destination via ROS service.
-- The Sunrise tool to use can be selected via a ROS parameter.
-- Gravity compensation by setting the appropriate JointImpedance values.
+- Selection of the tool and endframe to use via ROS parameters and services.
+- 'Fake' hand-guidance mode.
 - NTP synchronization with a server running on the ROS master
 - full MoveIt! integration
 - Gazebo support
@@ -50,9 +50,15 @@ This repository takes inspiration from the work of :
 
 Most of the original files were completely refactored though.
 
+
 ### Contacts
-Salvatore Virga : salvo.virga@tum.de     
-Marco Esposito : marco.esposito@tum.de
+
+[![TUM](http://campar.in.tum.de/files/goeblr/TUM_Web_Logo_blau.png "TUM Logo")](http://www.tum.de)      
+[Chair for Computer Aided Medical Procedures](http://campar.in.tum.de/)      
+[Technical University of Munich](http://www.tum.de), Germany.      
+
+<b>Salvatore Virga</b> : [salvo.virga@tum.de](mailto:salvo.virga@tum.de)      
+<b>Marco Esposito</b> : [marco.esposito@tum.de](mailto:marco.esposito@tum.de) 
 
 [1]: https://github.com/CentroEPiaggio/kuka-lwr
 [2]: https://bitbucket.org/khansari/iiwa.git

iiwa_control/CMakeLists.txt

@@ -1,11 +1,5 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.5)
 project(iiwa_control)
 
 find_package(catkin REQUIRED)
-
-catkin_package(
-#  INCLUDE_DIRS include
-#  LIBRARIES rrbot_control
-#  CATKIN_DEPENDS other_catkin_pkg
-#  DEPENDS system_lib
-)
+catkin_package()

iiwa_control/launch/iiwa_control.launch

@@ -8,18 +8,22 @@
     <arg name="controllers" default="joint_state_controller pos_joint_trajectory_controller"/>
     <arg name="robot_name" default="iiwa" />
     <arg name="model" default="iiwa7" />
+    <arg name="joint_state_frequency" default="100" />
+    <arg name="robot_state_frequency" default="100" />
 
     <!-- Loads joint controller configurations from YAML file to parameter server -->
-    <rosparam file="$(find iiwa_control)/config/$(arg robot_name)_control.yaml" command="load" />
+    <rosparam file="$(find iiwa_control)/config/iiwa_control.yaml" command="load" />
+    <param name="/$(arg robot_name)/joint_state_controller/publish_rate" value="$(arg joint_state_frequency)" />
 
     <!-- Loads the controllers -->
     <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
-          output="screen" args="$(arg controllers) --shutdown-timeout 2" />
+          output="screen" args="$(arg controllers)" />
 
     <!-- Converts joint states to TF transforms for rviz, etc -->
     <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"
           respawn="false" output="screen">
         <remap from="joint_states" to="/$(arg robot_name)/joint_states" />
+        <param name="publish_frequency" value="$(arg robot_state_frequency)" />
     </node>
 
 </launch>

iiwa_control/launch/iiwa_sunrise.launch

@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<launch>
+  <arg name="hardware_interface" default="PositionJointInterface"/>
+  <arg name="robot_name" default="iiwa" />
+  <arg name="model" default="iiwa14"/>
+  <arg name="tool_length" default="0.0"/>
+
+  <group ns="$(arg robot_name)">
+    <node name="iiwa_sunrise" pkg="iiwa_control" type="iiwa_sunrise.py" output="screen">
+      <param name="hardware_interface" value="$(arg hardware_interface)"/>
+      <param name="robot_name" value="$(arg robot_name)"/>
+      <param name="model" value="$(arg model)"/>
+      <param name="tool_length" value="$(arg tool_length)"/>
+    </node>
+  </group>
+</launch>

iiwa_control/package.xml

@@ -1,5 +1,5 @@
 <?xml version="1.0"?>
-<package>
+<package format="2">
   <name>iiwa_control</name>
   <version>1.4.0</version>
   <description>A package containing controllers used by MoveIt! and Gazebo</description>
@@ -10,6 +10,6 @@
 
   <buildtool_depend>catkin</buildtool_depend>
 
-  <run_depend>controller_manager</run_depend>
+  <depend>controller_manager</depend>
 
 </package>