Skip to content

changes necessary for noetic #10

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Open
bi3ri wants to merge 1 commit into
base: master
Choose a base branch
from
Open

changes necessary for noetic #10

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
2 changes: 1 addition & 1 deletion robotiq_control/package.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -13,7 +13,7 @@
<buildtool_depend>catkin</buildtool_depend>
<build_depend>rospy</build_depend>

<run_depend>python-pymodbus</run_depend>
<run_depend>python3-pymodbus</run_depend>
<run_depend>robotiq_description</run_depend>
<run_depend>robotiq_msgs</run_depend>
</package>
14 changes: 3 additions & 11 deletions robotiq_description/CMakeLists.txt
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,17 +1,9 @@
cmake_minimum_required(VERSION 2.8.3)
project(robotiq_description)

find_package(catkin REQUIRED COMPONENTS
openrave_catkin
)
find_package(catkin REQUIRED)

catkin_package()

install(DIRECTORY launch meshes urdf DESTINATION
${CATKIN_PACKAGE_SHARE_DESTINATION})

# Add the meshes to the OpenRAVE path
install(DIRECTORY meshes
DESTINATION ${OpenRAVE_DEVEL_DIR}/${OpenRAVE_DATA_DIR}/robots)
install(DIRECTORY meshes
DESTINATION ${OpenRAVE_INSTALL_DIR}/${OpenRAVE_DATA_DIR}/robots)
install(DIRECTORY meshes models urdf worlds
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
1 change: 0 additions & 1 deletion robotiq_description/package.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -13,7 +13,6 @@

<buildtool_depend>catkin</buildtool_depend>
<depend>rospy</depend>
<depend>openrave_catkin</depend>

<exec_depend>robot_state_publisher</exec_depend>
<exec_depend>urdf</exec_depend>
Expand Down
12 changes: 6 additions & 6 deletions robotiq_gazebo/src/mimic_joint_plugin.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -47,7 +47,7 @@ MimicJointPlugin::MimicJointPlugin()

MimicJointPlugin::~MimicJointPlugin()
{
event::Events::DisconnectWorldUpdateBegin(this->updateConnection);
this->updateConnection.reset();

kill_sim = true;
}
Expand Down Expand Up @@ -167,20 +167,20 @@ void MimicJointPlugin::Load(physics::ModelPtr _parent, sdf::ElementPtr _sdf )

void MimicJointPlugin::UpdateChild()
{
static ros::Duration period(world_->GetPhysicsEngine()->GetMaxStepSize());
static ros::Duration period(world_->Physics()->GetMaxStepSize());

// Set mimic joint's angle based on joint's angle
double angle = joint_->GetAngle(0).Radian()*multiplier_+offset_;
double angle = joint_->Position(0)*multiplier_+offset_;

if(abs(angle-mimic_joint_->GetAngle(0).Radian())>=sensitiveness_)
if(abs(angle-mimic_joint_->Position(0))>=sensitiveness_)
{
if(has_pid_)
{
double a = mimic_joint_->GetAngle(0).Radian();
double a = mimic_joint_->Position(0);
if(a!=a)
a = angle;
double error = angle-a;
double effort = gazebo::math::clamp(pid_.computeCommand(error, period), -max_effort_, max_effort_);
double effort = ignition::math::clamp(pid_.computeCommand(error, period), -max_effort_, max_effort_);
}
else
{
Expand Down