cmake_minimum_required(VERSION 2.8.3)
project(hs_controller)
## Compile as C++11, supported in ROS Kinetic and newer
# add_compile_options(-std=c++11)
## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
actionlib
cmake_modules
control_msgs
diagnostic_msgs
geometry_msgs
interactive_markers
interactive_markers
manipulation_msgs
moveit_core
moveit_msgs
moveit_ros_perception
moveit_ros_planning_interface
pluginlib
roscpp
rospy
sensor_msgs
shape_msgs
std_msgs
std_srvs
tf
trajectory_msgs
)
## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)
## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
# catkin_python_setup()
################################################
## Declare ROS messages, services and actions ##
################################################
## To declare and build messages, services or actions from within this
## package, follow these steps:
## * Let MSG_DEP_SET be the set of packages whose message types you use in
## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
## * In the file package.xml:
## * add a build_depend tag for "message_generation"
## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
## but can be declared for certainty nonetheless:
## * add a exec_depend tag for "message_runtime"
## * In this file (CMakeLists.txt):
## * add "message_generation" and every package in MSG_DEP_SET to
## find_package(catkin REQUIRED COMPONENTS ...)
## * add "message_runtime" and every package in MSG_DEP_SET to
## catkin_package(CATKIN_DEPENDS ...)
## * uncomment the add_*_files sections below as needed
## and list every .msg/.srv/.action file to be processed
## * uncomment the generate_messages entry below
## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
## Generate messages in the 'msg' folder
# add_message_files(
# FILES
# Message1.msg
# Message2.msg
# )
## Generate services in the 'srv' folder
# add_service_files(
# FILES
# Service1.srv
# Service2.srv
# )
## Generate actions in the 'action' folder
# add_action_files(
# FILES
# Action1.action
# Action2.action
# )
## Generate added messages and services with any dependencies listed here
# generate_messages(
# DEPENDENCIES
# control_msgs# diagnostic_msgs# geometry_msgs# manipulation_msgs# moveit_msgs# sensor_msgs# shape_msgs# std_msgs# trajectory_msgs
# )
################################################
## Declare ROS dynamic reconfigure parameters ##
################################################
## To declare and build dynamic reconfigure parameters within this
## package, follow these steps:
## * In the file package.xml:
## * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
## * In this file (CMakeLists.txt):
## * add "dynamic_reconfigure" to
## find_package(catkin REQUIRED COMPONENTS ...)
## * uncomment the "generate_dynamic_reconfigure_options" section below
## and list every .cfg file to be processed
## Generate dynamic reconfigure parameters in the 'cfg' folder
# generate_dynamic_reconfigure_options(
# cfg/DynReconf1.cfg
# cfg/DynReconf2.cfg
# )
###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if your package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
# INCLUDE_DIRS include
# LIBRARIES hs_controller
# CATKIN_DEPENDS actionlib cmake_modules control_msgs diagnostic_msgs geometry_msgs interactive_markers interactive_markers manipulation_msgs moveit_core moveit_msgs moveit_ros_perception moveit_ros_planning_interface pluginlib roscpp rospy sensor_msgs shape_msgs std_msgs std_srvs tf trajectory_msgs
# DEPENDS system_lib
)
###########
## Build ##
###########
## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(
# include
${catkin_INCLUDE_DIRS}
)
## Declare a C++ library
# add_library(${PROJECT_NAME}
# src/${PROJECT_NAME}/hs_controller.cpp
# )
## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
## Declare a C++ executable
## With catkin_make all packages are built within a single CMake context
## The recommended prefix ensures that target names across packages don't collide
# add_executable(${PROJECT_NAME}_node src/hs_controller_node.cpp)
## Rename C++ executable without prefix
## The above recommended prefix causes long target names, the following renames the
## target back to the shorter version for ease of user use
## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
## Add cmake target dependencies of the executable
## same as for the library above
# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
## Specify libraries to link a library or executable target against
# target_link_libraries(${PROJECT_NAME}_node
# ${catkin_LIBRARIES}
# )
#############
## Install ##
#############
# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
# install(PROGRAMS
# scripts/my_python_script
# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
## Mark executables and/or libraries for installation
# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node
# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
## Mark cpp header files for installation
# install(DIRECTORY include/${PROJECT_NAME}/
# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
# FILES_MATCHING PATTERN "*.h"
# PATTERN ".svn" EXCLUDE
# )
## Mark other files for installation (e.g. launch and bag files, etc.)
# install(FILES
# # myfile1
# # myfile2
# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
# )
#############
## Testing ##
#############
## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_hs_controller.cpp)
# if(TARGET ${PROJECT_NAME}-test)
# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()
## Add folders to be run by python nosetests
# catkin_add_nosetests(test)
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基于ROS的点焊机器人仿真与控制(Python)
共55个文件
launch:12个
xml:11个
stl:9个
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2023-11-13
14:21:50
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基于ROS的点焊机器人仿真与控制 介绍 点焊机器人(机械臂)在ROS环境下的简单运动仿真 使用说明 开发环境:Ubuntu 14 三个文件夹是三种不同运动轨迹的仿真,正运动学、逆运动学运动规划和一个简单的焊接实例
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rosdianhanjiqiren.zip (55个子文件)
rosdianhanjiqiren
hs
CMakeLists.txt 266B
urdf
hs.urdf 11KB
arbotix_relax_all_servos.py 2KB
arm_sim.rviz 9KB
package.xml 632B
meshes
link2.STL 107KB
base_link.STL 64KB
link3.STL 116KB
finger.STL 214KB
gripper.STL 196KB
link1.STL 165KB
wrist.STL 137KB
arm.STL 90KB
forearm.STL 139KB
launch
hs.launch 2KB
gazebo.launch 517B
display.launch 529B
urdf.rviz 9KB
config
dynamixel_diagnostics.yaml 302B
gripper.yaml 787B
joint_names_hs.yaml 95B
hs_controller
CMakeLists.txt 7KB
src
hs_controller
__init__.py 0B
arm_utils.py 4KB
ik.py 4KB
arm.py 3KB
package.xml 5KB
hs_config
CMakeLists.txt 298B
package.xml 1KB
.setup_assistant 228B
launch
hs_moveit_controller_manager.launch.xml 411B
setup_assistant.launch 528B
move_group.launch 3KB
planning_context.launch 1KB
warehouse_settings.launch.xml 592B
moveit.rviz 7KB
trajectory_execution.launch.xml 1KB
run_benchmark_ompl.launch 862B
moveit_rviz.launch 648B
warehouse.launch 511B
joystick_control.launch 629B
planning_pipeline.launch.xml 323B
hs_moveit_sensor_manager.launch.xml 99B
ompl_planning_pipeline.launch.xml 954B
demo.launch 2KB
fake_moveit_controller_manager.launch.xml 358B
default_warehouse_db.launch 691B
sensor_manager.launch.xml 631B
config
kinematics.yaml 178B
sensors_rgbd.yaml 239B
fake_controllers.yaml 207B
ompl_planning.yaml 4KB
controllers.yaml 374B
joint_limits.yaml 1KB
hs.srdf 5KB
共 55 条
- 1
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