diff --git a/docker_env/gear/Dockerfile b/docker_env/gear/Dockerfile index 3002dac..a604dfc 100644 --- a/docker_env/gear/Dockerfile +++ b/docker_env/gear/Dockerfile @@ -31,8 +31,8 @@ RUN chown -R rrrobot:rrrobot /home/rrrobot # Initialize the environment in .bashrc RUN echo "source /opt/ros/melodic/setup.bash" >> /home/rrrobot/.bashrc RUN echo "source /usr/share/gazebo/setup.sh" >> /home/rrrobot/.bashrc -RUN echo "export GAZEBO_MODEL_PATH=/home/rrrobot/rrrobot_src/src/gazebo_models:\$GAZEBO_MODEL_PATH" >> /home/rrrobot/.bashrc -RUN echo "export GAZEBO_PLUGIN_PATH=/home/rrrobot/rrrobot_src/lib:\$GAZEBO_PLUGIN_PATH" >> /home/rrrobot/.bashrc +RUN echo "export GAZEBO_MODEL_PATH=/home/rrrobot/rrrobot_ws/src/gazebo_models:\$GAZEBO_MODEL_PATH" >> /home/rrrobot/.bashrc +RUN echo "export GAZEBO_PLUGIN_PATH=/opt/ros/melodic/lib:/home/rrrobot/rrrobot_ws/lib:\$GAZEBO_PLUGIN_PATH" >> /home/rrrobot/.bashrc USER rrrobot diff --git a/rrrobot_src/test.sh b/rrrobot_src/test.sh deleted file mode 100755 index f0068c4..0000000 --- a/rrrobot_src/test.sh +++ /dev/null @@ -1,2 +0,0 @@ -source build.sh -catkin_make run_tests diff --git a/rrrobot_src/src/arm_control/CMakeLists.txt b/rrrobot_ws/src/arm_control/CMakeLists.txt similarity index 98% rename from rrrobot_src/src/arm_control/CMakeLists.txt rename to rrrobot_ws/src/arm_control/CMakeLists.txt index 3ac02e5..461509e 100644 --- a/rrrobot_src/src/arm_control/CMakeLists.txt +++ b/rrrobot_ws/src/arm_control/CMakeLists.txt @@ -129,7 +129,7 @@ include_directories( /usr/include/bullet /usr/include/sdformat-6.2 /usr/include/ignition/math4 - /home/rrrobot/rrrobot_src/devel/include/ + /home/rrrobot/rrrobot_ws/devel/include/ ) include_directories( /usr/include/eigen3 @@ -162,7 +162,7 @@ add_executable(angles_subscriber test/angles_subscriber.cpp src/arm.cpp) ## Add cmake target dependencies of the executable ## same as for the library above -add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) +add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS} ${PROJECT_NAME}_generate_messages_cpp simulation_env_generate_messages_cpp) ## Specify libraries to link a library or executable target against target_link_libraries(${PROJECT_NAME}_node diff --git a/rrrobot_src/src/arm_control/include/arm_control/arm.h b/rrrobot_ws/src/arm_control/include/arm_control/arm.h similarity index 100% rename from rrrobot_src/src/arm_control/include/arm_control/arm.h rename to rrrobot_ws/src/arm_control/include/arm_control/arm.h diff --git a/rrrobot_src/src/arm_control/launch/arm.launch b/rrrobot_ws/src/arm_control/launch/arm.launch similarity index 100% rename from rrrobot_src/src/arm_control/launch/arm.launch rename to rrrobot_ws/src/arm_control/launch/arm.launch diff --git a/rrrobot_src/src/arm_control/package.xml b/rrrobot_ws/src/arm_control/package.xml similarity index 100% rename from rrrobot_src/src/arm_control/package.xml rename to rrrobot_ws/src/arm_control/package.xml diff --git a/rrrobot_src/src/arm_control/src/arm.cpp b/rrrobot_ws/src/arm_control/src/arm.cpp similarity index 100% rename from rrrobot_src/src/arm_control/src/arm.cpp rename to rrrobot_ws/src/arm_control/src/arm.cpp diff --git a/rrrobot_src/src/arm_control/src/arm_controller.cpp b/rrrobot_ws/src/arm_control/src/arm_controller.cpp similarity index 100% rename from rrrobot_src/src/arm_control/src/arm_controller.cpp rename to rrrobot_ws/src/arm_control/src/arm_controller.cpp diff --git a/rrrobot_src/src/arm_control/test/angles_subscriber.cpp b/rrrobot_ws/src/arm_control/test/angles_subscriber.cpp similarity index 100% rename from rrrobot_src/src/arm_control/test/angles_subscriber.cpp rename to rrrobot_ws/src/arm_control/test/angles_subscriber.cpp diff --git a/rrrobot_src/src/arm_control/test/arm_movement_demo.cpp b/rrrobot_ws/src/arm_control/test/arm_movement_demo.cpp similarity index 100% rename from rrrobot_src/src/arm_control/test/arm_movement_demo.cpp rename to rrrobot_ws/src/arm_control/test/arm_movement_demo.cpp diff --git a/rrrobot_src/src/arm_control/test/test.cpp b/rrrobot_ws/src/arm_control/test/test.cpp similarity index 100% rename from rrrobot_src/src/arm_control/test/test.cpp rename to rrrobot_ws/src/arm_control/test/test.cpp diff --git a/rrrobot_src/src/arm_control/test/test_internal_arm_representation.cpp b/rrrobot_ws/src/arm_control/test/test_internal_arm_representation.cpp similarity index 100% rename from rrrobot_src/src/arm_control/test/test_internal_arm_representation.cpp rename to rrrobot_ws/src/arm_control/test/test_internal_arm_representation.cpp diff --git a/rrrobot_src/src/arm_control/test/test_pub_sub.cpp b/rrrobot_ws/src/arm_control/test/test_pub_sub.cpp similarity index 100% rename from rrrobot_src/src/arm_control/test/test_pub_sub.cpp rename to rrrobot_ws/src/arm_control/test/test_pub_sub.cpp diff --git a/rrrobot_ws/src/gazebo_models/fanuc_robotic_arm_with_gripper/arm_joint_and_link_definitions.jpg b/rrrobot_ws/src/gazebo_models/fanuc_robotic_arm_with_gripper/arm_joint_and_link_definitions.jpg new file mode 100644 index 0000000..5d97c90 Binary files /dev/null and b/rrrobot_ws/src/gazebo_models/fanuc_robotic_arm_with_gripper/arm_joint_and_link_definitions.jpg differ diff --git a/rrrobot_ws/src/gazebo_models/fanuc_robotic_arm_with_gripper/meshes/arm_link_1.STL b/rrrobot_ws/src/gazebo_models/fanuc_robotic_arm_with_gripper/meshes/arm_link_1.STL new file mode 100644 index 0000000..1cc6dee Binary files /dev/null and b/rrrobot_ws/src/gazebo_models/fanuc_robotic_arm_with_gripper/meshes/arm_link_1.STL differ diff --git a/rrrobot_ws/src/gazebo_models/fanuc_robotic_arm_with_gripper/meshes/arm_link_2.STL b/rrrobot_ws/src/gazebo_models/fanuc_robotic_arm_with_gripper/meshes/arm_link_2.STL new file mode 100644 index 0000000..7960a24 Binary files /dev/null and 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Binary files /dev/null and b/rrrobot_ws/src/gazebo_models/fanuc_robotic_arm_with_gripper/meshes/arm_link_5.STL differ diff --git a/rrrobot_ws/src/gazebo_models/fanuc_robotic_arm_with_gripper/meshes/arm_link_6.STL b/rrrobot_ws/src/gazebo_models/fanuc_robotic_arm_with_gripper/meshes/arm_link_6.STL new file mode 100644 index 0000000..3e2ee1c Binary files /dev/null and b/rrrobot_ws/src/gazebo_models/fanuc_robotic_arm_with_gripper/meshes/arm_link_6.STL differ diff --git a/rrrobot_ws/src/gazebo_models/fanuc_robotic_arm_with_gripper/meshes/base_link.STL b/rrrobot_ws/src/gazebo_models/fanuc_robotic_arm_with_gripper/meshes/base_link.STL new file mode 100644 index 0000000..6469280 Binary files /dev/null and b/rrrobot_ws/src/gazebo_models/fanuc_robotic_arm_with_gripper/meshes/base_link.STL differ diff --git a/rrrobot_ws/src/gazebo_models/fanuc_robotic_arm_with_gripper/model.config b/rrrobot_ws/src/gazebo_models/fanuc_robotic_arm_with_gripper/model.config new file mode 100644 index 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rrrobot_src/src/gazebo_models/unit_box/model.sdf rename to rrrobot_ws/src/gazebo_models/unit_box/model.sdf diff --git a/rrrobot_src/world/rrrobot_setpoint.world b/rrrobot_ws/world/rrrobot_setpoint.world similarity index 100% rename from rrrobot_src/world/rrrobot_setpoint.world rename to rrrobot_ws/world/rrrobot_setpoint.world