Add helix_description.

helix-robotics-ag · Feb 4, 2024 · 210f243 · 210f243
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diff --git a/helix_description/.gitignore b/helix_description/.gitignore
@@ -0,0 +1,160 @@
+# Byte-compiled / optimized / DLL files
+__pycache__/
+*.py[cod]
+*$py.class
+
+# C extensions
+*.so
+
+# Distribution / packaging
+.Python
+build/
+develop-eggs/
+dist/
+downloads/
+eggs/
+.eggs/
+lib/
+lib64/
+parts/
+sdist/
+var/
+wheels/
+share/python-wheels/
+*.egg-info/
+.installed.cfg
+*.egg
+MANIFEST
+
+# PyInstaller
+#  Usually these files are written by a python script from a template
+#  before PyInstaller builds the exe, so as to inject date/other infos into it.
+*.manifest
+*.spec
+
+# Installer logs
+pip-log.txt
+pip-delete-this-directory.txt
+
+# Unit test / coverage reports
+htmlcov/
+.tox/
+.nox/
+.coverage
+.coverage.*
+.cache
+nosetests.xml
+coverage.xml
+*.cover
+*.py,cover
+.hypothesis/
+.pytest_cache/
+cover/
+
+# Translations
+*.mo
+*.pot
+
+# Django stuff:
+*.log
+local_settings.py
+db.sqlite3
+db.sqlite3-journal
+
+# Flask stuff:
+instance/
+.webassets-cache
+
+# Scrapy stuff:
+.scrapy
+
+# Sphinx documentation
+docs/_build/
+
+# PyBuilder
+.pybuilder/
+target/
+
+# Jupyter Notebook
+.ipynb_checkpoints
+
+# IPython
+profile_default/
+ipython_config.py
+
+# pyenv
+#   For a library or package, you might want to ignore these files since the code is
+#   intended to run in multiple environments; otherwise, check them in:
+# .python-version
+
+# pipenv
+#   According to pypa/pipenv#598, it is recommended to include Pipfile.lock in version control.
+#   However, in case of collaboration, if having platform-specific dependencies or dependencies
+#   having no cross-platform support, pipenv may install dependencies that don't work, or not
+#   install all needed dependencies.
+#Pipfile.lock
+
+# poetry
+#   Similar to Pipfile.lock, it is generally recommended to include poetry.lock in version control.
+#   This is especially recommended for binary packages to ensure reproducibility, and is more
+#   commonly ignored for libraries.
+#   https://python-poetry.org/docs/basic-usage/#commit-your-poetrylock-file-to-version-control
+#poetry.lock
+
+# pdm
+#   Similar to Pipfile.lock, it is generally recommended to include pdm.lock in version control.
+#pdm.lock
+#   pdm stores project-wide configurations in .pdm.toml, but it is recommended to not include it
+#   in version control.
+#   https://pdm.fming.dev/#use-with-ide
+.pdm.toml
+
+# PEP 582; used by e.g. github.com/David-OConnor/pyflow and github.com/pdm-project/pdm
+__pypackages__/
+
+# Celery stuff
+celerybeat-schedule
+celerybeat.pid
+
+# SageMath parsed files
+*.sage.py
+
+# Environments
+.env
+.venv
+env/
+venv/
+ENV/
+env.bak/
+venv.bak/
+
+# Spyder project settings
+.spyderproject
+.spyproject
+
+# Rope project settings
+.ropeproject
+
+# mkdocs documentation
+/site
+
+# mypy
+.mypy_cache/
+.dmypy.json
+dmypy.json
+
+# Pyre type checker
+.pyre/
+
+# pytype static type analyzer
+.pytype/
+
+# Cython debug symbols
+cython_debug/
+
+# PyCharm
+#  JetBrains specific template is maintained in a separate JetBrains.gitignore that can
+#  be found at https://github.com/github/gitignore/blob/main/Global/JetBrains.gitignore
+#  and can be added to the global gitignore or merged into this file.  For a more nuclear
+#  option (not recommended) you can uncomment the following to ignore the entire idea folder.
+#.idea/
diff --git a/helix_description/CMakeLists.txt b/helix_description/CMakeLists.txt
@@ -0,0 +1,49 @@
+cmake_minimum_required(VERSION 3.5)
+project(dynamixel_block_description)
+
+# Default to C99
+if(NOT CMAKE_C_STANDARD)
+  set(CMAKE_C_STANDARD 99)
+endif()
+
+# Default to C++14
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(robot_state_publisher REQUIRED)
+find_package(xacro REQUIRED)
+find_package(urdf REQUIRED)
+find_package(rviz2 REQUIRED)
+find_package(ros2_control REQUIRED)
+find_package(ros2_controllers REQUIRED)
+find_package(dynamixel_hardware REQUIRED)
+
+install(DIRECTORY
+  meshes
+  urdf
+  controllers
+  DESTINATION share/${PROJECT_NAME}
+)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  # the following line skips the linter which checks for copyrights
+  # uncomment the line when a copyright and license is not present in all source files
+  #set(ament_cmake_copyright_FOUND TRUE)
+  # the following line skips cpplint (only works in a git repo)
+  # uncomment the line when this package is not in a git repo
+  #set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+# Environment hooks
+# ament_environment_hooks("${CMAKE_CURRENT_SOURCE_DIR}/env-hooks/${PROJECT_NAME}.dsv.in")
+
+ament_package()
diff --git a/helix_description/controllers/controllers.yaml b/helix_description/controllers/controllers.yaml
@@ -0,0 +1,25 @@
+controller_manager:
+  ros__parameters:
+    update_rate: 100  # Hz
+
+    dynamixel_position_controller:
+      type: position_controllers/JointGroupPositionController
+
+    dynamixel_joint_state_publisher:
+      type: joint_state_broadcaster/JointStateBroadcaster
+
+dynamixel_position_controller:
+  ros__parameters:
+    joints:
+      - dynamixel0
+      - dynamixel1
+      - dynamixel2
+      - dynamixel3
+      - dynamixel4
+      - dynamixel5
+      - dynamixel6
+      - dynamixel7
+      - dynamixel8
+      - dynamixel9
+      - dynamixel10
+      - dynamixel11
diff --git a/helix_description/meshes/base_link.stl b/helix_description/meshes/base_link.stl
diff --git a/helix_description/meshes/horn_0_1.stl b/helix_description/meshes/horn_0_1.stl
diff --git a/helix_description/meshes/horn_10_1.stl b/helix_description/meshes/horn_10_1.stl
diff --git a/helix_description/meshes/horn_11_1.stl b/helix_description/meshes/horn_11_1.stl
diff --git a/helix_description/meshes/horn_1_1.stl b/helix_description/meshes/horn_1_1.stl
diff --git a/helix_description/meshes/horn_2_1.stl b/helix_description/meshes/horn_2_1.stl
diff --git a/helix_description/meshes/horn_3_1.stl b/helix_description/meshes/horn_3_1.stl
diff --git a/helix_description/meshes/horn_4_1.stl b/helix_description/meshes/horn_4_1.stl
diff --git a/helix_description/meshes/horn_5_1.stl b/helix_description/meshes/horn_5_1.stl
diff --git a/helix_description/meshes/horn_6_1.stl b/helix_description/meshes/horn_6_1.stl
diff --git a/helix_description/meshes/horn_7_1.stl b/helix_description/meshes/horn_7_1.stl
diff --git a/helix_description/meshes/horn_8_1.stl b/helix_description/meshes/horn_8_1.stl
diff --git a/helix_description/meshes/horn_9_1.stl b/helix_description/meshes/horn_9_1.stl
diff --git a/helix_description/package.xml b/helix_description/package.xml
@@ -0,0 +1,32 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>dynamixel_block_description</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="[email protected]">Kai Junge</maintainer>
+  <license>Apache 2.0</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <depend>joint_state_publisher</depend>
+  <depend>joint_state_publisher_gui</depend>
+  <depend>robot_state_publisher</depend>
+  <depend>xacro</depend>
+  <depend>urdf</depend>
+  <depend>rviz2</depend>
+  <depend>launch</depend>
+  <depend>launch_ros</depend>
+  <depend>ros2_control</depend>
+  <depend>ros2_controllers</depend>
+  <depend>dynamixel_hardware</depend>
+  <depend>ros_ign_gazebo</depend>
+  <depend>ign_ros2_control</depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>
diff --git a/helix_description/urdf/dynamixel_block.material.xacro b/helix_description/urdf/dynamixel_block.material.xacro
@@ -0,0 +1,12 @@
+<?xml version="1.0"?>
+<robot>
+
+  <material name="dynamixel_body">
+    <color rgba="0.500 0.500 0.500 1.000"/>
+  </material>
+
+  <material name="dynamixel_horn">
+    <color rgba="0.7 0.6 0.0 1.000"/>
+  </material>
+
+</robot>
diff --git a/helix_description/urdf/dynamixel_block.ros2_control.xacro b/helix_description/urdf/dynamixel_block.ros2_control.xacro
@@ -0,0 +1,114 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
+
+  <xacro:macro name="dynamixel_block_ros2_control" params="name">
+
+    <ros2_control name="${name}" type="system">
+      <hardware>
+        <plugin>dynamixel_hardware/DynamixelHardware</plugin>
+        <param name="usb_port">/dev/ttyUSB0</param>
+        <param name="baud_rate">3000000</param>
+        <param name="use_dummy">true</param>
+      </hardware>
+      <joint name="dynamixel0">
+        <param name="id">0</param>
+        <command_interface name="position"/>
+        <command_interface name="velocity"/>
+        <state_interface name="position"/>
+        <state_interface name="velocity"/>
+        <state_interface name="effort"/>
+      </joint>
+      <joint name="dynamixel1">
+        <param name="id">1</param>
+        <command_interface name="position"/>
+        <command_interface name="velocity"/>
+        <state_interface name="position"/>
+        <state_interface name="velocity"/>
+        <state_interface name="effort"/>
+      </joint>
+      <joint name="dynamixel2">
+        <param name="id">2</param>
+        <command_interface name="position"/>
+        <command_interface name="velocity"/>
+        <state_interface name="position"/>
+        <state_interface name="velocity"/>
+        <state_interface name="effort"/>
+      </joint>
+      <joint name="dynamixel3">
+        <param name="id">3</param>
+        <command_interface name="position"/>
+        <command_interface name="velocity"/>
+        <state_interface name="position"/>
+        <state_interface name="velocity"/>
+        <state_interface name="effort"/>
+      </joint>
+      <joint name="dynamixel4">
+        <param name="id">4</param>
+        <command_interface name="position"/>
+        <command_interface name="velocity"/>
+        <state_interface name="position"/>
+        <state_interface name="velocity"/>
+        <state_interface name="effort"/>
+      </joint>
+      <joint name="dynamixel5">
+        <param name="id">5</param>
+        <command_interface name="position"/>
+        <command_interface name="velocity"/>
+        <state_interface name="position"/>
+        <state_interface name="velocity"/>
+        <state_interface name="effort"/>
+      </joint>
+      <joint name="dynamixel6">
+        <param name="id">6</param>
+        <command_interface name="position"/>
+        <command_interface name="velocity"/>
+        <state_interface name="position"/>
+        <state_interface name="velocity"/>
+        <state_interface name="effort"/>
+      </joint>
+      <joint name="dynamixel7">
+        <param name="id">7</param>
+        <command_interface name="position"/>
+        <command_interface name="velocity"/>
+        <state_interface name="position"/>
+        <state_interface name="velocity"/>
+        <state_interface name="effort"/>
+      </joint>
+      <joint name="dynamixel8">
+        <param name="id">8</param>
+        <command_interface name="position"/>
+        <command_interface name="velocity"/>
+        <state_interface name="position"/>
+        <state_interface name="velocity"/>
+        <state_interface name="effort"/>
+      </joint>
+      <joint name="dynamixel9">
+        <param name="id">9</param>
+        <command_interface name="position"/>
+        <command_interface name="velocity"/>
+        <state_interface name="position"/>
+        <state_interface name="velocity"/>
+        <state_interface name="effort"/>
+      </joint>
+      <joint name="dynamixel10">
+        <param name="id">10</param>
+        <command_interface name="position"/>
+        <command_interface name="velocity"/>
+        <state_interface name="position"/>
+        <state_interface name="velocity"/>
+        <state_interface name="effort"/>
+      </joint>
+      <joint name="dynamixel11">
+        <param name="id">11</param>
+        <command_interface name="position"/>
+        <command_interface name="velocity"/>
+        <state_interface name="position"/>
+        <state_interface name="velocity"/>
+        <state_interface name="effort"/>
+      </joint>
+
+    </ros2_control>
+
+  </xacro:macro>
+
+</robot>