0.1.0

doosan-robotics · Mar 31, 2024 · 1f14365 · 1f14365
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diff --git a/LICENSE b/LICENSE
@@ -0,0 +1,28 @@
+BSD 3-Clause License
+
+Copyright (c) 2024, Doosan Robotics Inc.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+1. Redistributions of source code must retain the above copyright notice, this
+   list of conditions and the following disclaimer.
+
+2. Redistributions in binary form must reproduce the above copyright notice,
+   this list of conditions and the following disclaimer in the documentation
+   and/or other materials provided with the distribution.
+
+3. Neither the name of the copyright holder nor the names of its
+   contributors may be used to endorse or promote products derived from
+   this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
diff --git a/README copy.md b/README copy.md
@@ -0,0 +1,41 @@
+
+
+# [Doosan Robotics](http://www.doosanrobotics.com/kr/)<img src="https://user-images.githubusercontent.com/47092672/97660147-142f1f00-1ab4-11eb-9d14-48f30a666cdc.PNG" width="10%" align="right">
+[![license - apache 2.0](https://img.shields.io/:license-Apache%202.0-yellowgreen.svg)](https://opensource.org/licenses/Apache-2.0)
+[![License](https://img.shields.io/badge/License-BSD%203--Clause-blue.svg)](https://opensource.org/licenses/BSD-3-Clause)
+[![support level: community](https://img.shields.io/badge/support%20level-community-lightgray.png)](http://rosindustrial.org/news/2016/10/7/better-supporting-a-growing-ros-industrial-software-platform)
+# *overview*
+
+    This package provides the function to control all models of Doosan robots in the ROS2(Humble) environment.
+
+    ※ Currently, ROS2 related packages are being updated rapidly. 
+       Doosan packages will also be updated from time to time and features will be upgraded.
+
+
+# *build* 
+##### *Doosan Robot ROS2 Package is implemented at ROS2-humble.*
+    ### Prerequisite installation elements before package installation
+    $ sudo apt-get install libpoco-dev
+    $ sudo apt-get install ros-humble-control-msgs ros-humble-realtime-tools ros-humble-xacro ros-humble-joint-state-publisher-gui ros-humble-ros2-control ros-humble-ros2-controllers
+
+    ### We assume that you have installed the ros-humble-desktop package using the apt-get command.
+    ### We recommand the /home/<user_home>/ros2_ws/src
+    $ mkdir -p ~/ros2_ws/src
+    $ cd ~/ros2_ws/src
+    $ git clone https://github.com/doosan-robotics/doosan-robot2.git
+    $ cd ~/ros2_ws
+    $ colcon build
+    $ . install/setup.bash
+
+#### dependency package list
+Now we have updated humble-packages
+Only Real Mode is available until May.
+
+### Real Mode 
+Use __real mode__ to drive a real robot   
+The default IP of the robot controller is _192.168.127.100_ and the port is _12345_.
+
+##### Run dsr_control2 node 
+```bash
+$ ros2 launch dsr_bringup2 dsr_bringup_rviz.launch.py 
+```
diff --git a/README.md b/README.md
diff --git a/common2/CHANGELOG.rst b/common2/CHANGELOG.rst
@@ -0,0 +1,41 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package common2
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+1.1.0 (2021-07-01)
+------------------
+* update changelog
+* update drfl.lib to GL010110
+* launch drcf-emulator automatically
+* update emulator
+* update moveit package
+* ROS2 Alpha
+* for newest ros2_control package
+* ROS2 Alpha
+* Update package.xml
+* ROS2 Alpha
+* ROS2 Alpha
+* Contributors: doosan robotics ros master, doosan-robotics, dra
+
+* update drfl.lib to GL010110
+* launch drcf-emulator automatically
+* update emulator
+* update moveit package
+* ROS2 Alpha
+* for newest ros2_control package
+* ROS2 Alpha
+* Update package.xml
+* ROS2 Alpha
+* ROS2 Alpha
+* Contributors: doosan robotics ros master, doosan-robotics, dra
+
+* Update package.xml
+* ROS2 Alpha
+* ROS2 Alpha
+* Contributors: doosan robotics ros master, doosan-robotics
+
+0.1.1 (2020-10-29)
+------------------
+* Update package.xml
+* ROS2 Alpha
+* Contributors: doosan robotics ros master, doosan-robotics
diff --git a/common2/CMakeLists.txt b/common2/CMakeLists.txt
@@ -0,0 +1,37 @@
+cmake_minimum_required(VERSION 3.5)
+project(common2)
+
+# 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_package(ament_cmake REQUIRED)
+
+ament_package()
+
+#install(PROGRAMS 
+#    bin/DRCF/DRCF64 bin/DRCF/run_drcf.sh
+#    #ROS2 DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+#    DESTINATION bin/${PROJECT_NAME}   
+#)
+
+install(DIRECTORY
+    imp bin/DRCF/config 
+    #ROS2 DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+    DESTINATION bin/${PROJECT_NAME}   
+)
+
+install(DIRECTORY bin
+    #ROS2 DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+    DESTINATION share/${PROJECT_NAME}   
+)
+
+install(FILES bin/DRCF/DRCF64 bin/DRCF/run_drcf.sh
+    PERMISSIONS OWNER_EXECUTE OWNER_WRITE OWNER_READ
+    DESTINATION share/${PROJECT_NAME}/bin/DRCF   
+)
diff --git a/common2/bin/DRCF/DRCF64 b/common2/bin/DRCF/DRCF64
diff --git a/common2/bin/DRCF/config/BV/M3_M0906.xml b/common2/bin/DRCF/config/BV/M3_M0906.xml
@@ -0,0 +1,160 @@
+<robot>
+    <body axis="0">
+    </body>
+    <body axis="1">
+        <bv type="capsule">
+            <a.x>0.0000</a.x>
+            <a.y>0.0000</a.y>
+            <a.z>100.0000</a.z>
+            <b.x>0.0000</b.x>
+            <b.y>0.0000</b.y>
+            <b.z>220.0000</b.z>
+            <r>70.0000</r>
+        </bv>
+        <bv type="capsule">
+            <a.x>0.0000</a.x>
+            <a.y>70.0000</a.y>
+            <a.z>166.0000</a.z>
+            <b.x>0.0000</b.x>
+            <b.y>50.0000</b.y>
+            <b.z>166.0000</b.z>
+            <r>75.0000</r>
+        </bv>
+    </body>
+    <body axis="2">
+        <bv type="capsule">
+            <a.x>0.0000</a.x>
+            <a.y>140.0000</a.y>
+            <a.z>166.0000</a.z>
+            <b.x>0.0000</b.x>
+            <b.y>220.0000</b.y>
+            <b.z>166.0000</b.z>
+            <r>75.0000</r>
+        </bv>
+        <bv type="capsule">
+            <a.x>0.0000</a.x>
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+            <a.z>220.0000</a.z>
+            <b.x>0.0000</b.x>
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+            <b.z>240.0000</b.z>
+            <r>70.0000</r>
+        </bv>
+        <bv type="capsule">
+            <a.x>0.0000</a.x>
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+            <a.z>470.0000</a.z>
+            <b.x>0.0000</b.x>
+            <b.y>170.0070</b.y>
+            <b.z>275.0000</b.z>
+            <r>55.0000</r>
+        </bv>
+        <bv type="capsule">
+            <a.x>0.0000</a.x>
+            <a.y>170.0000</a.y>
+            <a.z>520.0000</a.z>
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+            <b.y>170.0000</b.y>
+            <b.z>510.0000</b.z>
+            <r>70.0000</r>
+        </bv>
+        <bv type="capsule">
+            <a.x>0.0000</a.x>
+            <a.y>120.0000</a.y>
+            <a.z>577.0000</a.z>
+            <b.x>-0.0000</b.x>
+            <b.y>220.0000</b.y>
+            <b.z>577.0000</b.z>
+            <r>75.0000</r>
+        </bv>
+    </body>
+    <body axis="3">
+        <bv type="capsule">
+            <a.x>0.0000</a.x>
+            <a.y>80.0000</a.y>
+            <a.z>577.0000</a.z>
+            <b.x>0.0000</b.x>
+            <b.y>50.0000</b.y>
+            <b.z>577.0000</b.z>
+            <r>70.0000</r>
+        </bv>
+        <bv type="capsule">
+            <a.x>0.0000</a.x>
+            <a.y>6.0000</a.y>
+            <a.z>660.0000</a.z>
+            <b.x>0.0000</b.x>
+            <b.y>6.0000</b.y>
+            <b.z>520.0000</b.z>
+            <r>55.0000</r>
+        </bv>
+    </body>
+    <body axis="4">
+        <bv type="capsule">
+            <a.x>0.0000</a.x>
+            <a.y>6.0000</a.y>
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+            <b.z>650.0000</b.z>
+            <r>50.0000</r>
+        </bv>
+        <bv type="capsule">
+            <a.x>0.0000</a.x>
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+            <b.z>719.0000</b.z>
+            <r>35.0000</r>
+        </bv>
+        <bv type="capsule">
+            <a.x>0.0000</a.x>
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+        </bv>
+        <bv type="capsule">
+            <a.x>0.0000</a.x>
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+            <r>55.0000</r>
+        </bv>
+    </body>
+    <body axis="5">
+        <bv type="capsule">
+            <a.x>0.0000</a.x>
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+            <r>55.0000</r>
+        </bv>
+        <bv type="capsule">
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+            <r>50.0000</r>
+        </bv>
+    </body>
+    <body axis="6">
+        <bv type="capsule">
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+            <r>47.0000</r>
+        </bv>
+    </body>
+</robot>