diff --git a/.gitignore b/sas_robot_driver_franka/.gitignore similarity index 100% rename from .gitignore rename to sas_robot_driver_franka/.gitignore diff --git a/CMakeLists.txt b/sas_robot_driver_franka/CMakeLists.txt similarity index 100% rename from CMakeLists.txt rename to sas_robot_driver_franka/CMakeLists.txt diff --git a/LICENSE b/sas_robot_driver_franka/LICENSE similarity index 100% rename from LICENSE rename to sas_robot_driver_franka/LICENSE diff --git a/README.md b/sas_robot_driver_franka/README.md similarity index 100% rename from README.md rename to sas_robot_driver_franka/README.md diff --git a/cfg/sas_operator_side_receiver.yaml b/sas_robot_driver_franka/cfg/sas_operator_side_receiver.yaml similarity index 100% rename from cfg/sas_operator_side_receiver.yaml rename to sas_robot_driver_franka/cfg/sas_operator_side_receiver.yaml diff --git a/cfg/sas_patient_side_manager.yaml b/sas_robot_driver_franka/cfg/sas_patient_side_manager.yaml similarity index 100% rename from cfg/sas_patient_side_manager.yaml rename to sas_robot_driver_franka/cfg/sas_patient_side_manager.yaml diff --git a/cfg/sas_robot_driver_coppelia_franka_1.yaml b/sas_robot_driver_franka/cfg/sas_robot_driver_coppelia_franka_1.yaml similarity index 100% rename from cfg/sas_robot_driver_coppelia_franka_1.yaml rename to sas_robot_driver_franka/cfg/sas_robot_driver_coppelia_franka_1.yaml diff --git a/cfg/sas_robot_driver_franka_1.yaml b/sas_robot_driver_franka/cfg/sas_robot_driver_franka_1.yaml similarity index 100% rename from cfg/sas_robot_driver_franka_1.yaml rename to sas_robot_driver_franka/cfg/sas_robot_driver_franka_1.yaml diff --git a/cfg/sas_robot_driver_franka_hand_1.yaml b/sas_robot_driver_franka/cfg/sas_robot_driver_franka_hand_1.yaml similarity index 100% rename from cfg/sas_robot_driver_franka_hand_1.yaml rename to sas_robot_driver_franka/cfg/sas_robot_driver_franka_hand_1.yaml diff --git a/cfg/sas_robot_driver_mirror_coppelia_franka_1.yaml b/sas_robot_driver_franka/cfg/sas_robot_driver_mirror_coppelia_franka_1.yaml similarity index 100% rename from cfg/sas_robot_driver_mirror_coppelia_franka_1.yaml rename to sas_robot_driver_franka/cfg/sas_robot_driver_mirror_coppelia_franka_1.yaml diff --git a/constraints_manager/LICENSE b/sas_robot_driver_franka/constraints_manager/LICENSE similarity index 100% rename from constraints_manager/LICENSE rename to sas_robot_driver_franka/constraints_manager/LICENSE diff --git a/constraints_manager/README.md b/sas_robot_driver_franka/constraints_manager/README.md similarity index 100% rename from constraints_manager/README.md rename to sas_robot_driver_franka/constraints_manager/README.md diff --git a/constraints_manager/constraints_manager_example/CMakeLists.txt b/sas_robot_driver_franka/constraints_manager/constraints_manager_example/CMakeLists.txt similarity index 100% rename from constraints_manager/constraints_manager_example/CMakeLists.txt rename to sas_robot_driver_franka/constraints_manager/constraints_manager_example/CMakeLists.txt diff --git a/constraints_manager/constraints_manager_example/main.cpp b/sas_robot_driver_franka/constraints_manager/constraints_manager_example/main.cpp similarity index 100% rename from constraints_manager/constraints_manager_example/main.cpp rename to sas_robot_driver_franka/constraints_manager/constraints_manager_example/main.cpp diff --git a/constraints_manager/include/constraints_manager.h b/sas_robot_driver_franka/constraints_manager/include/constraints_manager.h similarity index 100% rename from constraints_manager/include/constraints_manager.h rename to sas_robot_driver_franka/constraints_manager/include/constraints_manager.h diff --git a/constraints_manager/src/constraints_manager.cpp b/sas_robot_driver_franka/constraints_manager/src/constraints_manager.cpp similarity index 100% rename from constraints_manager/src/constraints_manager.cpp rename to sas_robot_driver_franka/constraints_manager/src/constraints_manager.cpp diff --git a/include/sas_robot_driver_franka/coppelia/sas_robot_driver_coppelia.hpp b/sas_robot_driver_franka/include/sas_robot_driver_franka/coppelia/sas_robot_driver_coppelia.hpp similarity index 100% rename from include/sas_robot_driver_franka/coppelia/sas_robot_driver_coppelia.hpp rename to sas_robot_driver_franka/include/sas_robot_driver_franka/coppelia/sas_robot_driver_coppelia.hpp diff --git a/include/sas_robot_driver_franka/deprecated/robot_coppelia_ros_interface.h b/sas_robot_driver_franka/include/sas_robot_driver_franka/deprecated/robot_coppelia_ros_interface.h similarity index 100% rename from include/sas_robot_driver_franka/deprecated/robot_coppelia_ros_interface.h rename to sas_robot_driver_franka/include/sas_robot_driver_franka/deprecated/robot_coppelia_ros_interface.h diff --git a/include/sas_robot_driver_franka/generator/custom_motion_generation.h b/sas_robot_driver_franka/include/sas_robot_driver_franka/generator/custom_motion_generation.h similarity index 100% rename from include/sas_robot_driver_franka/generator/custom_motion_generation.h rename to sas_robot_driver_franka/include/sas_robot_driver_franka/generator/custom_motion_generation.h diff --git a/include/sas_robot_driver_franka/generator/motion_generator.h b/sas_robot_driver_franka/include/sas_robot_driver_franka/generator/motion_generator.h similarity index 100% rename from include/sas_robot_driver_franka/generator/motion_generator.h rename to sas_robot_driver_franka/include/sas_robot_driver_franka/generator/motion_generator.h diff --git a/include/sas_robot_driver_franka/generator/quadratic_program_motion_generator.h b/sas_robot_driver_franka/include/sas_robot_driver_franka/generator/quadratic_program_motion_generator.h similarity index 100% rename from include/sas_robot_driver_franka/generator/quadratic_program_motion_generator.h rename to sas_robot_driver_franka/include/sas_robot_driver_franka/generator/quadratic_program_motion_generator.h diff --git a/include/sas_robot_driver_franka/interfaces/qros_effector_driver_franka_hand.hpp b/sas_robot_driver_franka/include/sas_robot_driver_franka/interfaces/qros_effector_driver_franka_hand.hpp similarity index 100% rename from include/sas_robot_driver_franka/interfaces/qros_effector_driver_franka_hand.hpp rename to sas_robot_driver_franka/include/sas_robot_driver_franka/interfaces/qros_effector_driver_franka_hand.hpp diff --git a/include/sas_robot_driver_franka/interfaces/robot_interface_franka.hpp b/sas_robot_driver_franka/include/sas_robot_driver_franka/interfaces/robot_interface_franka.hpp similarity index 100% rename from include/sas_robot_driver_franka/interfaces/robot_interface_franka.hpp rename to sas_robot_driver_franka/include/sas_robot_driver_franka/interfaces/robot_interface_franka.hpp diff --git a/include/sas_robot_driver_franka/robot_dynamic/qros_robot_dynamics_client.hpp b/sas_robot_driver_franka/include/sas_robot_driver_franka/robot_dynamic/qros_robot_dynamics_client.hpp similarity index 100% rename from include/sas_robot_driver_franka/robot_dynamic/qros_robot_dynamics_client.hpp rename to sas_robot_driver_franka/include/sas_robot_driver_franka/robot_dynamic/qros_robot_dynamics_client.hpp diff --git a/include/sas_robot_driver_franka/robot_dynamic/qros_robot_dynamics_server.hpp b/sas_robot_driver_franka/include/sas_robot_driver_franka/robot_dynamic/qros_robot_dynamics_server.hpp similarity index 100% rename from include/sas_robot_driver_franka/robot_dynamic/qros_robot_dynamics_server.hpp rename to sas_robot_driver_franka/include/sas_robot_driver_franka/robot_dynamic/qros_robot_dynamics_server.hpp diff --git a/include/sas_robot_driver_franka/robot_interface_hand.hpp b/sas_robot_driver_franka/include/sas_robot_driver_franka/robot_interface_hand.hpp similarity index 100% rename from include/sas_robot_driver_franka/robot_interface_hand.hpp rename to sas_robot_driver_franka/include/sas_robot_driver_franka/robot_interface_hand.hpp diff --git a/include/sas_robot_driver_franka/sas_robot_driver_franka.hpp b/sas_robot_driver_franka/include/sas_robot_driver_franka/sas_robot_driver_franka.hpp similarity index 100% rename from include/sas_robot_driver_franka/sas_robot_driver_franka.hpp rename to sas_robot_driver_franka/include/sas_robot_driver_franka/sas_robot_driver_franka.hpp diff --git a/launch/__pycache__/sas_robot_driver_franka_simulation_example.cpython-312.pyc b/sas_robot_driver_franka/launch/__pycache__/sas_robot_driver_franka_simulation_example.cpython-312.pyc similarity index 100% rename from launch/__pycache__/sas_robot_driver_franka_simulation_example.cpython-312.pyc rename to sas_robot_driver_franka/launch/__pycache__/sas_robot_driver_franka_simulation_example.cpython-312.pyc diff --git a/launch/depreciated/sas_operator_side_receiver.launch b/sas_robot_driver_franka/launch/depreciated/sas_operator_side_receiver.launch similarity index 100% rename from launch/depreciated/sas_operator_side_receiver.launch rename to sas_robot_driver_franka/launch/depreciated/sas_operator_side_receiver.launch diff --git a/launch/depreciated/sas_patient_side_manager.launch b/sas_robot_driver_franka/launch/depreciated/sas_patient_side_manager.launch similarity index 100% rename from launch/depreciated/sas_patient_side_manager.launch rename to sas_robot_driver_franka/launch/depreciated/sas_patient_side_manager.launch diff --git a/launch/depreciated/sas_robot_driver_coppelia_franka_1.launch b/sas_robot_driver_franka/launch/depreciated/sas_robot_driver_coppelia_franka_1.launch similarity index 100% rename from launch/depreciated/sas_robot_driver_coppelia_franka_1.launch rename to sas_robot_driver_franka/launch/depreciated/sas_robot_driver_coppelia_franka_1.launch diff --git a/launch/depreciated/sas_robot_driver_franka_1.launch b/sas_robot_driver_franka/launch/depreciated/sas_robot_driver_franka_1.launch similarity index 100% rename from launch/depreciated/sas_robot_driver_franka_1.launch rename to sas_robot_driver_franka/launch/depreciated/sas_robot_driver_franka_1.launch diff --git a/launch/depreciated/sas_robot_driver_franka_hand_1.launch b/sas_robot_driver_franka/launch/depreciated/sas_robot_driver_franka_hand_1.launch similarity index 100% rename from launch/depreciated/sas_robot_driver_franka_hand_1.launch rename to sas_robot_driver_franka/launch/depreciated/sas_robot_driver_franka_hand_1.launch diff --git a/launch/depreciated/sas_robot_driver_mirror_coppelia_franka_1.launch b/sas_robot_driver_franka/launch/depreciated/sas_robot_driver_mirror_coppelia_franka_1.launch similarity index 100% rename from launch/depreciated/sas_robot_driver_mirror_coppelia_franka_1.launch rename to sas_robot_driver_franka/launch/depreciated/sas_robot_driver_mirror_coppelia_franka_1.launch diff --git a/launch/sas_robot_driver_franka_example.py b/sas_robot_driver_franka/launch/sas_robot_driver_franka_example.py similarity index 100% rename from launch/sas_robot_driver_franka_example.py rename to sas_robot_driver_franka/launch/sas_robot_driver_franka_example.py diff --git a/launch/sas_robot_driver_franka_hand_example.py b/sas_robot_driver_franka/launch/sas_robot_driver_franka_hand_example.py similarity index 100% rename from launch/sas_robot_driver_franka_hand_example.py rename to sas_robot_driver_franka/launch/sas_robot_driver_franka_hand_example.py diff --git a/launch/sas_robot_driver_franka_simulation_example.py b/sas_robot_driver_franka/launch/sas_robot_driver_franka_simulation_example.py similarity index 100% rename from launch/sas_robot_driver_franka_simulation_example.py rename to sas_robot_driver_franka/launch/sas_robot_driver_franka_simulation_example.py diff --git a/package.xml b/sas_robot_driver_franka/package.xml similarity index 100% rename from package.xml rename to sas_robot_driver_franka/package.xml diff --git a/qt/configuration_window/main.cpp b/sas_robot_driver_franka/qt/configuration_window/main.cpp similarity index 100% rename from qt/configuration_window/main.cpp rename to sas_robot_driver_franka/qt/configuration_window/main.cpp diff --git a/qt/configuration_window/mainwindow.cpp b/sas_robot_driver_franka/qt/configuration_window/mainwindow.cpp similarity index 100% rename from qt/configuration_window/mainwindow.cpp rename to sas_robot_driver_franka/qt/configuration_window/mainwindow.cpp diff --git a/qt/configuration_window/mainwindow.h b/sas_robot_driver_franka/qt/configuration_window/mainwindow.h similarity index 100% rename from qt/configuration_window/mainwindow.h rename to sas_robot_driver_franka/qt/configuration_window/mainwindow.h diff --git a/qt/configuration_window/mainwindow.ui b/sas_robot_driver_franka/qt/configuration_window/mainwindow.ui similarity index 100% rename from qt/configuration_window/mainwindow.ui rename to sas_robot_driver_franka/qt/configuration_window/mainwindow.ui diff --git a/sas_robot_driver_franka/__init__.py b/sas_robot_driver_franka/sas_robot_driver_franka/__init__.py similarity index 100% rename from sas_robot_driver_franka/__init__.py rename to sas_robot_driver_franka/sas_robot_driver_franka/__init__.py diff --git a/scripts/example_gripper_control.py b/sas_robot_driver_franka/scripts/example_gripper_control.py similarity index 100% rename from scripts/example_gripper_control.py rename to sas_robot_driver_franka/scripts/example_gripper_control.py diff --git a/scripts/publish_dumy_robot_dynmaics.py b/sas_robot_driver_franka/scripts/publish_dumy_robot_dynmaics.py similarity index 100% rename from scripts/publish_dumy_robot_dynmaics.py rename to sas_robot_driver_franka/scripts/publish_dumy_robot_dynmaics.py diff --git a/scripts/subscribe_dummy_dynamic.py b/sas_robot_driver_franka/scripts/subscribe_dummy_dynamic.py similarity index 100% rename from scripts/subscribe_dummy_dynamic.py rename to sas_robot_driver_franka/scripts/subscribe_dummy_dynamic.py diff --git a/src/coppelia/sas_robot_driver_coppelia.cpp b/sas_robot_driver_franka/src/coppelia/sas_robot_driver_coppelia.cpp similarity index 100% rename from src/coppelia/sas_robot_driver_coppelia.cpp rename to sas_robot_driver_franka/src/coppelia/sas_robot_driver_coppelia.cpp diff --git a/src/deprecated/robot_coppelia_ros_interface.cpp b/sas_robot_driver_franka/src/deprecated/robot_coppelia_ros_interface.cpp similarity index 100% rename from src/deprecated/robot_coppelia_ros_interface.cpp rename to sas_robot_driver_franka/src/deprecated/robot_coppelia_ros_interface.cpp diff --git a/src/deprecated/robot_coppelia_ros_interface_node.cpp b/sas_robot_driver_franka/src/deprecated/robot_coppelia_ros_interface_node.cpp similarity index 100% rename from src/deprecated/robot_coppelia_ros_interface_node.cpp rename to sas_robot_driver_franka/src/deprecated/robot_coppelia_ros_interface_node.cpp diff --git a/src/generator/custom_motion_generation.cpp b/sas_robot_driver_franka/src/generator/custom_motion_generation.cpp similarity index 100% rename from src/generator/custom_motion_generation.cpp rename to sas_robot_driver_franka/src/generator/custom_motion_generation.cpp diff --git a/src/generator/motion_generator.cpp b/sas_robot_driver_franka/src/generator/motion_generator.cpp similarity index 100% rename from src/generator/motion_generator.cpp rename to sas_robot_driver_franka/src/generator/motion_generator.cpp diff --git a/src/generator/quadratic_program_motion_generator.cpp b/sas_robot_driver_franka/src/generator/quadratic_program_motion_generator.cpp similarity index 100% rename from src/generator/quadratic_program_motion_generator.cpp rename to sas_robot_driver_franka/src/generator/quadratic_program_motion_generator.cpp diff --git a/src/hand/qros_effector_driver_franka_hand.cpp b/sas_robot_driver_franka/src/hand/qros_effector_driver_franka_hand.cpp similarity index 100% rename from src/hand/qros_effector_driver_franka_hand.cpp rename to sas_robot_driver_franka/src/hand/qros_effector_driver_franka_hand.cpp diff --git a/src/hand/robot_interface_hand.cpp b/sas_robot_driver_franka/src/hand/robot_interface_hand.cpp similarity index 100% rename from src/hand/robot_interface_hand.cpp rename to sas_robot_driver_franka/src/hand/robot_interface_hand.cpp diff --git a/src/joint/robot_interface_franka.cpp b/sas_robot_driver_franka/src/joint/robot_interface_franka.cpp similarity index 100% rename from src/joint/robot_interface_franka.cpp rename to sas_robot_driver_franka/src/joint/robot_interface_franka.cpp diff --git a/src/joint/sas_robot_driver_franka.cpp b/sas_robot_driver_franka/src/joint/sas_robot_driver_franka.cpp similarity index 100% rename from src/joint/sas_robot_driver_franka.cpp rename to sas_robot_driver_franka/src/joint/sas_robot_driver_franka.cpp diff --git a/src/robot_dynamics/qros_robot_dynamics_client.cpp b/sas_robot_driver_franka/src/robot_dynamics/qros_robot_dynamics_client.cpp similarity index 100% rename from src/robot_dynamics/qros_robot_dynamics_client.cpp rename to sas_robot_driver_franka/src/robot_dynamics/qros_robot_dynamics_client.cpp diff --git a/src/robot_dynamics/qros_robot_dynamics_py.cpp b/sas_robot_driver_franka/src/robot_dynamics/qros_robot_dynamics_py.cpp similarity index 100% rename from src/robot_dynamics/qros_robot_dynamics_py.cpp rename to sas_robot_driver_franka/src/robot_dynamics/qros_robot_dynamics_py.cpp diff --git a/src/robot_dynamics/qros_robot_dynamics_server.cpp b/sas_robot_driver_franka/src/robot_dynamics/qros_robot_dynamics_server.cpp similarity index 100% rename from src/robot_dynamics/qros_robot_dynamics_server.cpp rename to sas_robot_driver_franka/src/robot_dynamics/qros_robot_dynamics_server.cpp diff --git a/src/sas_robot_driver_coppelia_node.cpp b/sas_robot_driver_franka/src/sas_robot_driver_coppelia_node.cpp similarity index 100% rename from src/sas_robot_driver_coppelia_node.cpp rename to sas_robot_driver_franka/src/sas_robot_driver_coppelia_node.cpp diff --git a/src/sas_robot_driver_franka_hand_node.cpp b/sas_robot_driver_franka/src/sas_robot_driver_franka_hand_node.cpp similarity index 100% rename from src/sas_robot_driver_franka_hand_node.cpp rename to sas_robot_driver_franka/src/sas_robot_driver_franka_hand_node.cpp diff --git a/src/sas_robot_driver_franka_node.cpp b/sas_robot_driver_franka/src/sas_robot_driver_franka_node.cpp similarity index 100% rename from src/sas_robot_driver_franka_node.cpp rename to sas_robot_driver_franka/src/sas_robot_driver_franka_node.cpp diff --git a/sas_robot_driver_franka_interfaces/CMakeLists.txt b/sas_robot_driver_franka_interfaces/CMakeLists.txt new file mode 100644 index 0000000..72fe156 --- /dev/null +++ b/sas_robot_driver_franka_interfaces/CMakeLists.txt @@ -0,0 +1,33 @@ +cmake_minimum_required(VERSION 3.8) +project(sas_robot_driver_franka_interfaces) + +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(std_msgs REQUIRED) +find_package(geometry_msgs REQUIRED) +find_package(rosidl_default_generators REQUIRED) + +rosidl_generate_interfaces(${PROJECT_NAME} + "msg/GripperState.msg" + "srv/Move.srv" + "srv/Grasp.srv" +) + +install( + DIRECTORY msg + DESTINATION share/${PROJECT_NAME}/msg +) + +install( + DIRECTORY srv + DESTINATION share/${PROJECT_NAME}/srv +) + + + + +ament_package() diff --git a/sas_robot_driver_franka_interfaces/msg/GripperState.msg b/sas_robot_driver_franka_interfaces/msg/GripperState.msg new file mode 100644 index 0000000..dd916fa --- /dev/null +++ b/sas_robot_driver_franka_interfaces/msg/GripperState.msg @@ -0,0 +1,5 @@ +float32 width +float32 max_width +bool is_grasped +uint16 temperature +uint64 duration_ms \ No newline at end of file diff --git a/sas_robot_driver_franka_interfaces/package.xml b/sas_robot_driver_franka_interfaces/package.xml new file mode 100644 index 0000000..03c4ce3 --- /dev/null +++ b/sas_robot_driver_franka_interfaces/package.xml @@ -0,0 +1,26 @@ + + + + sas_robot_driver_franka_interfaces + 0.0.0 + sas_driver_franka interfaces package + qlin + TODO: License declaration + + std_msgs + geometry_msgs + + + ament_cmake + rosidl_default_generators + rosidl_interface_packages + + ament_lint_auto + ament_lint_common + + rosidl_default_runtime + + + ament_cmake + + diff --git a/sas_robot_driver_franka_interfaces/srv/Grasp.srv b/sas_robot_driver_franka_interfaces/srv/Grasp.srv new file mode 100644 index 0000000..7e63640 --- /dev/null +++ b/sas_robot_driver_franka_interfaces/srv/Grasp.srv @@ -0,0 +1,7 @@ +float32 width +float32 speed +float32 force +float32 epsilon_inner +float32 epsilon_outer +--- +bool success \ No newline at end of file diff --git a/sas_robot_driver_franka_interfaces/srv/Move.srv b/sas_robot_driver_franka_interfaces/srv/Move.srv new file mode 100644 index 0000000..bb592b1 --- /dev/null +++ b/sas_robot_driver_franka_interfaces/srv/Move.srv @@ -0,0 +1,4 @@ +float32 width +float32 speed +--- +bool success \ No newline at end of file