Skip to content

Commit

Permalink
use new structure for cob3-2
Browse files Browse the repository at this point in the history
  • Loading branch information
fmessmer committed Jan 12, 2017
1 parent d16ed62 commit 1c07fcf
Show file tree
Hide file tree
Showing 3 changed files with 87 additions and 199 deletions.
176 changes: 83 additions & 93 deletions cob_bringup/robots/cob3-2.xml
Original file line number Diff line number Diff line change
Expand Up @@ -7,135 +7,117 @@
<arg name="pc2" default="localhost"/>
<arg name="pc3" default="localhost"/>
<arg name="env-script" default="$(find cob_bringup)/env.sh"/>

<arg name="sim" default="false"/>

<!-- upload robot description -->
<include file="$(find cob_hardware_config)/common/upload_robot.launch" >
<arg name="robot" value="$(arg robot)" />
</include>
<!-- upload semantic description -->
<include file="$(find cob_moveit_config)/launch/upload_config.launch">
<arg name="robot" value="$(arg robot)"/>
<arg name="load_semantic_description" value="true"/>
<arg name="load_planning_context" value="false"/>
</include>

<!-- upload default configuration parameters -->
<include file="$(find cob_default_robot_config)/cob3-2/upload_param_cob3-2.launch" />

<group>
<machine name="pc1" address="$(arg pc1)" env-loader="$(arg env-script)" default="true" timeout="30"/>

<include file="$(find cob_bringup)/tools/pc_monitor.launch" >
<arg name="robot" value="$(arg robot)" />
<arg name="pc" value="$(arg pc1)" />
</include>

<!-- monitoring -->
<!--include file="$(find cob_bringup)/tools/wifi_monitor.launch" >
<arg name="robot" value="$(arg robot)" />
</include-->
<include file="$(find cob_bringup)/tools/emergency_stop_monitor.launch" >
<arg name="robot" value="$(arg robot)" />
</include>
<include file="$(find cob_bringup)/tools/battery_monitor.launch" >
<arg name="robot" value="$(arg robot)" />
</include>
<include file="$(find cob_bringup)/drivers/battery_voltage_filter.launch" >
<arg name="robot" value="$(arg robot)" />
</include>
<!-- start hardware -->
<group unless="$(arg sim)">
<include file="$(find cob_bringup)/tools/pc_monitor.launch" >
<arg name="robot" value="$(arg robot)" />
<arg name="pc" value="$(arg pc1)" />
</include>
<!--include file="$(find cob_bringup)/tools/wifi_monitor.launch" >
<arg name="robot" value="$(arg robot)" />
</include-->
</group>

<!-- startup hardware -->
<!-- lower robot -->
<include file="$(find cob_bringup)/drivers/sick_s300.launch" >
<arg name="robot" value="$(arg robot)" />
<arg name="name" value="base_laser_front" />
<arg name="sim" value="$(arg sim)"/>
</include>
<include file="$(find cob_bringup)/drivers/sick_s300.launch" >
<arg name="robot" value="$(arg robot)" />
<arg name="name" value="base_laser_rear" />
<arg name="sim" value="$(arg sim)"/>
</include>
<include file="$(find cob_bringup)/drivers/hokuyo.launch" >
<arg name="robot" value="$(arg robot)" />
<arg name="name" value="base_laser_top" />
<arg name="sim" value="$(arg sim)"/>
</include>
<include file="$(find cob_bringup)/drivers/relayboard.launch" >
<arg name="robot" value="$(arg robot)" />
<arg name="sim" value="$(arg sim)"/>
</include>

<include file="$(find cob_bringup)/drivers/base_driver.launch" >
<include file="$(find cob_bringup)/components/legacy_base.launch" >
<arg name="robot" value="$(arg robot)" />
<arg name="sim" value="$(arg sim)"/>
</include>
<include file="$(find cob_bringup)/controllers/base_controller.launch" >
<include file="$(find cob_bringup)/components/legacy_schunk_powercube.launch" >
<arg name="robot" value="$(arg robot)" />
<arg name="component_name" value="torso" />
<arg name="sim" value="$(arg sim)"/>
</include>
<include file="$(find cob_bringup)/tools/base_collision_observer.launch" >
<include file="$(find cob_bringup)/components/legacy_schunk_powercube.launch" >
<arg name="robot" value="$(arg robot)" />
<arg name="component_name" value="tray" />
<arg name="sim" value="$(arg sim)"/>
</include>

<!-- upper robot -->
<include file="$(find cob_bringup)/drivers/schunk_powercube_chain_driver.launch" >
<include file="$(find cob_bringup)/components/legacy_schunk_powercube.launch" >
<arg name="robot" value="$(arg robot)" />
<arg name="component_name" value="torso" />
</include>
<include file="$(find cob_bringup)/controllers/cob_trajectory_controller.launch">
<arg name="robot" value="$(arg robot)"/>
<arg name="component_name" value="torso"/>
<arg name="component_name" value="arm" />
<arg name="sim" value="$(arg sim)"/>
</include>

<include file="$(find cob_bringup)/drivers/schunk_powercube_chain_driver.launch" >
<include file="$(find cob_bringup)/components/legacy_sdh.launch" >
<arg name="robot" value="$(arg robot)" />
<arg name="component_name" value="tray" />
</include>
<include file="$(find cob_bringup)/controllers/cob_trajectory_controller.launch">
<arg name="robot" value="$(arg robot)"/>
<arg name="component_name" value="tray"/>
<arg name="sim" value="$(arg sim)"/>
</include>

<include file="$(find cob_bringup)/drivers/schunk_powercube_chain_driver.launch" >
<include file="$(find cob_bringup)/components/legacy_head_axis.launch" >
<arg name="robot" value="$(arg robot)" />
<arg name="component_name" value="arm" />
<arg name="sim" value="$(arg sim)"/>
</include>
<include file="$(find cob_bringup)/controllers/cob_trajectory_controller.launch">

<include file="$(find cob_bringup)/components/cam3d_openni2.launch">
<arg name="robot" value="$(arg robot)"/>
<arg name="component_name" value="arm"/>
<arg name="name" value="cam3d"/>
<arg name="device_id" value="#1"/>
<!--arg name="data_skip" value="1"/-->
<arg name="num_worker_threads" value="2"/>
<arg name="start_manager" value="false"/>
<arg name="flip" value="false"/>
<arg name="sim" value="$(arg sim)"/>
</include>

<include file="$(find cob_bringup)/drivers/schunk_sdh.launch" >
<!-- start common nodes used in hardware and simulation -->
<include file="$(find cob_bringup)/tools/emergency_stop_monitor.launch" >
<arg name="robot" value="$(arg robot)" />
</include>
<include file="$(find cob_bringup)/drivers/head_axis.launch" >
<include file="$(find cob_bringup)/tools/battery_monitor.launch" >
<arg name="robot" value="$(arg robot)" />
</include>

<!-- start additional packages -->
<include file="$(find cob_bringup)/tools/diagnostics_aggregator.launch" >
<include file="$(find cob_bringup)/drivers/battery_voltage_filter.launch" >
<arg name="robot" value="$(arg robot)" />
</include>
<include file="$(find cob_bringup)/tools/teleop.launch" >
<include file="$(find cob_bringup)/tools/base_collision_observer.launch" >
<arg name="robot" value="$(arg robot)" />
</include>
<include file="$(find cob_bringup)/drivers/openni2.launch" >
<include file="$(find cob_bringup)/tools/diagnostics_aggregator.launch" >
<arg name="robot" value="$(arg robot)" />
<arg name="name" value="cam3d"/>
<arg name="device_id" value="#1"/>
</include>
<!--include file="$(find cob_bringup)/drivers/image_flip_nodelet.launch" >
<include file="$(find cob_bringup)/tools/teleop.launch" >
<arg name="robot" value="$(arg robot)" />
<arg name="camera_name" values="cam3d" />
<arg name="nodelet_manager" value="cam3d_nodelet_manager"/>
<arg name="start_manager" value="false"/>
</include-->
<include file="$(find cob_cam3d_throttle)/launch/cam3d_throttle.launch" >
<arg name="namespace" value="/cam3d" />
<arg name="rate" value="1.0" />
<arg name="start_manager" value="false"/>
<arg name="nodelet_manager" value="cam3d_nodelet_manager"/>
</include>

<!-- aggregated robot_state_publisher -->
<include file="$(find cob_bringup)/tools/robot_state_publisher.launch">
<arg name="robot" value="$(arg robot)" />
</include>

<!-- script server -->
<include file="$(find cob_script_server)/launch/script_server.launch" />

<!-- scan unifier -->
<include file="$(find cob_bringup)/drivers/scan_unifier.launch" >
<arg name="robot" value="$(arg robot)" />
</include>
Expand All @@ -144,25 +126,27 @@
<group>
<machine name="pc2" address="$(arg pc2)" env-loader="$(arg env-script)" default="true" timeout="30"/>

<include file="$(find cob_bringup)/tools/pc_monitor.launch" >
<arg name="robot" value="$(arg robot)" />
<arg name="pc" value="$(arg pc2)" />
</include>

<!-- start camera sensors -->
<include file="$(find cob_bringup)/drivers/prosilica.launch" >
<arg name="robot" value="$(arg robot)" />
<arg name="name" value="left"/>
</include>
<include file="$(find cob_bringup)/drivers/prosilica.launch" >
<arg name="robot" value="$(arg robot)" />
<arg name="name" value="right"/>
</include>
<include file="$(find cob_bringup)/drivers/dsa.launch" >
<arg name="robot" value="$(arg robot)" />
</include>

<!-- start additional packages -->
<!-- start hardware -->
<group unless="$(arg sim)">
<include file="$(find cob_bringup)/tools/pc_monitor.launch" >
<arg name="robot" value="$(arg robot)" />
<arg name="pc" value="$(arg pc2)" />
</include>

<include file="$(find cob_bringup)/drivers/prosilica.launch" >
<arg name="robot" value="$(arg robot)" />
<arg name="name" value="left"/>
</include>
<include file="$(find cob_bringup)/drivers/prosilica.launch" >
<arg name="robot" value="$(arg robot)" />
<arg name="name" value="right"/>
</include>
<include file="$(find cob_bringup)/drivers/dsa.launch" >
<arg name="robot" value="$(arg robot)" />
</include>
</group>

<!-- start common nodes used in hardware and simulation -->
<include file="$(find cob_bringup)/drivers/sound.launch" >
<arg name="robot" value="$(arg robot)" />
</include>
Expand All @@ -171,16 +155,22 @@
<group>
<machine name="pc3" address="$(arg pc3)" env-loader="$(arg env-script)" default="true" timeout="30"/>

<include file="$(find cob_bringup)/tools/pc_monitor.launch" >
<arg name="robot" value="$(arg robot)" />
<arg name="pc" value="$(arg pc3)" />
</include>
<!-- start hardware -->
<group unless="$(arg sim)">
<include file="$(find cob_bringup)/tools/pc_monitor.launch" >
<arg name="robot" value="$(arg robot)" />
<arg name="pc" value="$(arg pc3)" />
</include>
</group>

<include file="$(find cob_bringup)/drivers/light.launch" >
<arg name="robot" value="$(arg robot)" />
<arg name="component_name" value="light" />
<arg name="sim_enabled" value="$(arg sim)"/>
</include>
<include file="$(find cob_bringup)/drivers/tray_sensors.launch" >
<arg name="robot" value="$(arg robot)" />
<arg name="sim" value="$(arg sim)"/>
</include>
</group>

Expand Down
Original file line number Diff line number Diff line change
Expand Up @@ -3,124 +3,18 @@

<arg name="robot" default="cob3-2"/>

<!-- aggregated robot_state_publisher -->
<include file="$(find cob_bringup)/tools/robot_state_publisher.launch">
<arg name="robot" value="$(arg robot)" />
</include>

<!-- Base -->
<!-- simulated driver services -->
<node ns="base" pkg="cob_controller_configuration_gazebo" type="gazebo_services.py" name="gazebo_services" cwd="node" respawn="false" output="screen" />
<!-- base controllers -->
<include file="$(find cob_bringup)/controllers/base_controller_plugin.launch">
<arg name="robot" value="$(arg robot)"/>
</include>
<!-- scanner and scanner-filter -->
<include file="$(find cob_bringup)/drivers/laser_scan_filter.launch">
<arg name="robot" value="$(arg robot)"/>
<arg name="name" value="base_laser_front"/>
</include>
<include file="$(find cob_bringup)/drivers/laser_scan_filter.launch">
<arg name="robot" value="$(arg robot)"/>
<arg name="name" value="base_laser_rear"/>
</include>
<include file="$(find cob_bringup)/drivers/laser_scan_filter.launch">
<arg name="robot" value="$(arg robot)"/>
<arg name="name" value="base_laser_top"/>
</include>
<include file="$(find cob_bringup)/drivers/scan_unifier.launch" >
<arg name="robot" value="$(arg robot)" />
</include>

<!-- Head -->
<!-- simulated driver services -->
<node ns="head" pkg="cob_controller_configuration_gazebo" type="gazebo_services.py" name="gazebo_services" cwd="node" respawn="false" output="screen" />
<!-- generic controllers -->
<include file="$(find cob_bringup)/controllers/generic_controller.launch">
<arg name="robot" value="$(arg robot)"/>
<arg name="component_name" value="head"/>
</include>

<!-- Arm -->
<!-- simulated driver services -->
<node ns="arm" pkg="cob_controller_configuration_gazebo" type="gazebo_services.py" name="gazebo_services" cwd="node" respawn="false" output="screen" />
<!-- generic controllers -->
<include file="$(find cob_bringup)/controllers/generic_controller.launch">
<arg name="robot" value="$(arg robot)"/>
<arg name="component_name" value="arm"/>
</include>

<!-- Gripper -->
<!-- simulated driver services -->
<node ns="gripper" pkg="cob_controller_configuration_gazebo" type="gazebo_services.py" name="gazebo_services" cwd="node" respawn="false" output="screen" />
<!-- generic controllers -->
<include file="$(find cob_bringup)/controllers/generic_controller.launch">
<arg name="robot" value="$(arg robot)"/>
<arg name="component_name" value="gripper"/>
</include>

<!-- Torso -->
<!-- simulated driver services -->
<node ns="torso" pkg="cob_controller_configuration_gazebo" type="gazebo_services.py" name="gazebo_services" cwd="node" respawn="false" output="screen" />
<!-- generic controllers -->
<include file="$(find cob_bringup)/controllers/generic_controller.launch">
<arg name="robot" value="$(arg robot)"/>
<arg name="component_name" value="torso"/>
</include>

<!-- Tray -->
<!-- simulated driver services -->
<node ns="tray" pkg="cob_controller_configuration_gazebo" type="gazebo_services.py" name="gazebo_services" cwd="node" respawn="false" output="screen" />
<!-- generic controllers -->
<include file="$(find cob_bringup)/controllers/generic_controller.launch">
<arg name="robot" value="$(arg robot)"/>
<arg name="component_name" value="tray"/>
</include>

<!-- Tray sensors -->
<node ns="tray_sensors" pkg="cob_phidgets" type="simulated_range_sensors.py" name="tray_sensors" output="screen">
<rosparam command="load" file="$(find cob_hardware_config)/$(arg robot)/config/tray_sensors_sim.yaml"/>
</node>

<!--include file="$(find cob_bringup)/drivers/image_flip.launch" >
<arg name="robot" value="$(arg robot)" />
<arg name="camera_name" values="cam3d" />
</include-->

<!-- start additional components -->
<include file="$(find cob_bringup)/drivers/sound.launch" >
<arg name="robot" value="$(arg robot)"/>
</include>
<include file="$(find cob_bringup)/drivers/light.launch" >
<arg name="robot" value="$(arg robot)"/>
<arg name="component_name" value="light"/>
<arg name="sim_enabled" value="true"/>
</include>
<include file="$(find cob_bringup)/tools/base_collision_observer.launch" >
<arg name="robot" value="$(arg robot)"/>
</include>
<include file="$(find cob_bringup)/drivers/battery_voltage_filter.launch" >
<arg name="robot" value="$(arg robot)"/>
</include>
<include file="$(find cob_bringup)/tools/diagnostics_aggregator.launch" >
<arg name="robot" value="$(arg robot)"/>
</include>

<node name="cam3d_relay" pkg="topic_tools" type="relay" args="/cam3d/rgb/image_raw /cam3d/rgb/image_color" respawn="false" output="screen"/>
<node name="cam3d_relay_depth_image" pkg="topic_tools" type="relay" args="/cam3d/depth/image_raw /cam3d/depth/image" respawn="false" output="screen"/>
<node name="cam3d_relay_depth_points" pkg="topic_tools" type="relay" args="/cam3d/depth_registered/points /cam3d/depth/points" respawn="false" output="screen"/>
<node name="cam3d_relay_depth_camera_info" pkg="topic_tools" type="relay" args="/cam3d/depth_registered/camera_info /cam3d/depth/camera_info" respawn="false" output="screen"/>

<include file="$(find cob_cam3d_throttle)/launch/cam3d_throttle.launch" >
<arg name="namespace" value="/cam3d" />
<arg name="rate" value="1.0" />
<arg name="start_manager" value="true"/>
<arg name="nodelet_manager" value="cam3d_nodelet_manager"/>
</include>

<!-- fake components for simulation -->
<include file="$(find cob_bringup)/drivers/relayboard.launch">
<arg name="sim" value="true"/>
</include>

</launch>
4 changes: 4 additions & 0 deletions cob_hardware_config/cob3-2/config/hz_monitor_cam3d.yaml
Original file line number Diff line number Diff line change
@@ -0,0 +1,4 @@
diagnostics_name: cam3d
topics: [/cam3d/rgb/camera_info]
hz: 7
hzerror: 3

0 comments on commit 1c07fcf

Please sign in to comment.