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texhnolyzetexhnolyze
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feat(pressure_sensors): extract out handling from ros_control
to allow usage of the actual `pressure_converter` in simulation without requiring dynamixel motor handling and other lowlevel components.
1 parent e21b6f1 commit 824a5a1

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16 files changed

+1266
-1
lines changed

16 files changed

+1266
-1
lines changed

‎bitbots_lowlevel/bitbots_pressure_sensors/CMakeLists.txt

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cmake_minimum_required(VERSION 3.5)
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project(bitbots_pressure_sensors)
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# Add support for C++17
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if(NOT CMAKE_CXX_STANDARD)
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set(CMAKE_CXX_STANDARD 17)
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endif()
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# Build with release optimizations and debug symbols by default
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if(NOT CMAKE_CONFIGURATION_TYPES AND NOT CMAKE_BUILD_TYPE)
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set(CMAKE_BUILD_TYPE RelWithDebug)
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endif()
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find_package(ament_cmake REQUIRED)
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find_package(ament_index_cpp REQUIRED)
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find_package(bitbots_msgs REQUIRED)
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# find_package(controller_interface REQUIRED) find_package(controller_manager
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# REQUIRED)
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find_package(diagnostic_msgs REQUIRED)
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# find_package(hardware_interface REQUIRED) find_package(moveit_core REQUIRED)
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# find_package(moveit_ros_planning REQUIRED) find_package(pluginlib REQUIRED)
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find_package(rclcpp REQUIRED)
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find_package(rosidl_typesupport_cpp REQUIRED)
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find_package(std_msgs REQUIRED)
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find_package(std_srvs REQUIRED)
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find_package(tf2_ros REQUIRED)
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# find_package(transmission_interface REQUIRED)
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find_package(yaml-cpp REQUIRED)
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set(INCLUDE_DIRS include)
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include_directories(${INCLUDE_DIRS})
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set(CMAKE_CXX_STANDARD 17)
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add_compile_options(-Wall -Werror -Wno-unused -pedantic -Wextra)
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set(SOURCES src/pressure_converter.cpp)
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# enable_bitbots_docs()
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add_executable(pressure_converter ${SOURCES})
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ament_target_dependencies(
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pressure_converter
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ament_cmake
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ament_index_cpp
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bitbots_msgs
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# controller_interface controller_manager
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diagnostic_msgs
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# hardware_interface moveit_core moveit_ros_planning pluginlib
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rclcpp
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rosidl_typesupport_cpp
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std_msgs
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std_srvs
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tf2_ros
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# transmission_interface
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yaml-cpp)
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target_link_libraries(pressure_converter yaml-cpp)
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ament_export_dependencies(ament_cmake)
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ament_export_dependencies(bitbots_msgs)
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# ament_export_dependencies(controller_interface)
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# ament_export_dependencies(controller_manager)
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# ament_export_dependencies(hardware_interface)
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# ament_export_dependencies(pluginlib)
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ament_export_dependencies(std_msgs)
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ament_export_dependencies(tf2_ros)
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# ament_export_dependencies(transmission_interface)
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install(TARGETS pressure_converter DESTINATION lib/${PROJECT_NAME})
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install(DIRECTORY config DESTINATION share/${PROJECT_NAME})
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install(DIRECTORY launch DESTINATION share/${PROJECT_NAME})
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install(DIRECTORY scripts/ USE_SOURCE_PERMISSIONS
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DESTINATION lib/${PROJECT_NAME})
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ament_package()

‎bitbots_lowlevel/bitbots_pressure_sensors/config/pressure_amy.yaml

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pressure_converter:
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ros__parameters:
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zero_r:
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- -27455372.92
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- 14459386.46
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- 17952654.76
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- -10605254.74
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zero_l:
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- -14063383.6
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- 30331751.92
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- -2034247.26
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- 48130515.2
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scale_r:
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- 2.879445523352348e-06
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- -2.252145560713656e-05
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- -2.754225471994077e-06
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- 2.763926644524643e-06
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scale_l:
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- 2.879445523352348e-06
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- -2.252145560713656e-05
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- -2.754225471994077e-06
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- 2.763926644524643e-06

‎bitbots_lowlevel/bitbots_pressure_sensors/config/pressure_converter.yaml

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pressure_converter:
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ros__parameters:
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left_topic: "/foot_pressure_left"
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right_topic: "/foot_pressure_right"
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average: 5
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scale_and_zero_average: 50
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cop_threshold: 5.0

‎bitbots_lowlevel/bitbots_pressure_sensors/config/pressure_donna.yaml

Whitespace-only changes.

‎bitbots_lowlevel/bitbots_pressure_sensors/config/pressure_jack.yaml

Whitespace-only changes.

‎bitbots_lowlevel/bitbots_pressure_sensors/config/pressure_melody.yaml

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pressure_converter:
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ros__parameters:
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zero_r:
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- -27455372.92
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- 14459386.46
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- 17952654.76
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- -10605254.74
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zero_l:
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- -14063383.6
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- 30331751.92
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- -2034247.26
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- 48130515.2
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scale_r:
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- 2.879445523352348e-06
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- -2.252145560713656e-05
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- -2.754225471994077e-06
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- 2.763926644524643e-06
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scale_l:
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- 2.879445523352348e-06
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- -2.252145560713656e-05
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- -2.754225471994077e-06
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- 2.763926644524643e-06

‎bitbots_lowlevel/bitbots_pressure_sensors/config/pressure_nobot.yaml

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pressure_converter:
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ros__parameters:
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zero_r:
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- 48308998.54257341
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- -55854838.35192279
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- 98076369.19309235
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- -39246077.40848633
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zero_l:
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- -67084141.6669952
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- 56469139.33715566
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- -85340727.53204206
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- -6584181.771324467
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scale_r:
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- -5.719128286267938e-08
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- -3.441808570613519e-08
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- 3.580081515665939e-08
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- 3.67922464123119e-08
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scale_l:
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- -5.719128286267938e-08
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- -3.441808570613519e-08
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- 3.580081515665939e-08
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- 3.67922464123119e-08

‎bitbots_lowlevel/bitbots_pressure_sensors/config/pressure_rory.yaml

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pressure_converter:
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ros__parameters:
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zero_r:
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- 48308998.54257341
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- -55854838.35192279
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- 98076369.19309235
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- -39246077.40848633
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zero_l:
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- -67084141.6669952
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- 56469139.33715566
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- -85340727.53204206
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- -6584181.771324467
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scale_r:
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- -5.719128286267938e-08
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- -3.441808570613519e-08
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- 3.580081515665939e-08
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- 3.67922464123119e-08
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scale_l:
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- -5.719128286267938e-08
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- -3.441808570613519e-08
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- 3.580081515665939e-08
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- 3.67922464123119e-08

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