Merge remote-tracking branch 'origin/release-0.7.0'

CHANGELOG.rst

@@ -0,0 +1,9 @@
+0.7.0 (2013-11-21)
+---------------------------------
+- Removal of baxter_msgs in favor of baxter_core_msgs (Baxter communication) and baxter_maintenance_msgs (maintenance routines). This allowed for the removal of the implemented proxy for direct robot communication decreasing latency significantly.
+- Gazebo and ros_control URDF tags added.
+- Adds low poly meshes for pedestal and torso collision descriptions for MoveIt!
+- Adds electric and suction gripper meshes
+- Adds <left/right>_gripper_base link/joint - necessary for object/gripper mass customization.
+- Updates URDF effector fields to reflect robot maximums.
+- Fixes head origin bug. Head now rotates correctly when visualized.

README.rst

@@ -0,0 +1,55 @@
+baxter_common
+==============
+
+URDF, meshes, and custom messages describing the Baxter Research Robot from Rethink Robotics
+
+Code & Tickets
+--------------
+
++-----------------+----------------------------------------------------------------+
+| Documentation   | https://github.com/RethinkRobotics/sdk-docs/wiki               |
++-----------------+----------------------------------------------------------------+
+| Issues          | https://github.com/RethinkRobotics/baxter_common/issues        |
++-----------------+----------------------------------------------------------------+
+| Contributions   | https://github.com/RethinkRobotics/sdk-docs/wiki/Contributions |
++-----------------+----------------------------------------------------------------+
+
+baxter_common Repository Overview
+---------------------------------
+
+::
+
+     .
+     |
+     +-- baxter_common/           baxter_common metapackage
+     |
+     +-- baxter_description/      urdf and meshes describing baxter
+     |   +-- urdf/
+     |   +-- meshes/
+     |
+     +-- baxter_core_msgs/        messages and services for communication with baxter
+     |   +-- msgs/
+     |   +-- srvs/
+     |
+     +-- baxter_maintenance_msgs/ messages and services for baxter maintenance routines
+     |   +-- msgs/
+     |   +-- srvs/
+
+
+Other Baxter Repositories
+-------------------------
+
++------------------+-----------------------------------------------------+
+| baxter           | https://github.com/RethinkRobotics/baxter           |
++------------------+-----------------------------------------------------+
+| baxter_interface | https://github.com/RethinkRobotics/baxter_interface |
++------------------+-----------------------------------------------------+
+| baxter_tools     | https://github.com/RethinkRobotics/baxter_tools     |
++------------------+-----------------------------------------------------+
+| baxter_examples  | https://github.com/RethinkRobotics/baxter_examples  |
++------------------+-----------------------------------------------------+
+
+Latest Release Information
+--------------------------
+
+https://github.com/RethinkRobotics/sdk-docs/wiki/Release-Changes

baxter_common/package.xml

@@ -1,16 +1,17 @@
 <?xml version="1.0"?>
 <package>
   <name>baxter_common</name>
-  <version>0.6.1</version>
-  <description>URDF, meshes, and custom messages
-    describing the Baxter robot from Rethink Robotics.
+  <version>0.7.0</version>
+  <description>
+    URDF, meshes, and custom messages describing the Baxter Research
+    Robot from Rethink Robotics.
   </description>
 
   <maintainer email="[email protected]">
     Rethink Robotics Inc.
   </maintainer>
   <license>BSD</license>
-  <url type="website">http://www.rethinkrobotics.com</url>
+  <url type="website">http://www.rethinkrobotics.com/sdk</url>
   <url type="repository">
     https://github.com/RethinkRobotics/baxter_common
   </url>
@@ -22,7 +23,8 @@
   <buildtool_depend>catkin</buildtool_depend>
 
   <run_depend>baxter_description</run_depend>
-  <run_depend>baxter_msgs</run_depend>
+  <run_depend>baxter_core_msgs</run_depend>
+  <run_depend>baxter_maintenance_msgs</run_depend>
 
   <export>
     <metapackage/>

baxter_core_msgs/CMakeLists.txt

@@ -0,0 +1,58 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(baxter_core_msgs)
+
+find_package(catkin REQUIRED
+  message_generation
+  geometry_msgs
+  sensor_msgs
+  std_msgs
+)
+
+add_message_files(DIRECTORY msg FILES
+  AnalogIOState.msg
+  AnalogIOStates.msg
+  AnalogOutputCommand.msg
+  AssemblyState.msg
+  AssemblyStates.msg
+  CameraControl.msg
+  CameraSettings.msg
+  CollisionAvoidanceState.msg
+  CollisionDetectionState.msg
+  DigitalIOState.msg
+  DigitalIOStates.msg
+  DigitalOutputCommand.msg
+  EndEffectorCommand.msg
+  EndEffectorProperties.msg
+  EndEffectorState.msg
+  EndpointState.msg
+  EndpointStates.msg
+  HeadPanCommand.msg
+  HeadState.msg
+  ITBState.msg
+  ITBStates.msg
+  JointCommand.msg
+  NavigatorState.msg
+  NavigatorStates.msg
+  RobustControllerStatus.msg
+  SEAJointState.msg
+)
+
+add_service_files(DIRECTORY srv FILES
+  CloseCamera.srv
+  ListCameras.srv
+  OpenCamera.srv
+  SolvePositionIK.srv
+)
+
+generate_messages(DEPENDENCIES
+  geometry_msgs
+  sensor_msgs
+  std_msgs
+)
+
+catkin_package(CATKIN_DEPENDS
+  message_runtime
+  geometry_msgs
+  sensor_msgs
+  std_msgs
+)

baxter_core_msgs/msg/AssemblyStates.msg

@@ -0,0 +1,2 @@
+string[] names
+AssemblyState[] states

baxter_core_msgs/msg/CollisionAvoidanceState.msg

@@ -0,0 +1,3 @@
+std_msgs/Header header
+bool other_arm
+string[] collision_object

baxter_core_msgs/msg/CollisionDetectionState.msg

@@ -0,0 +1,2 @@
+std_msgs/Header header
+bool collision_state

baxter_core_msgs/msg/EndEffectorCommand.msg

@@ -0,0 +1,22 @@
+## Command to be sent to an end effector
+uint32 id       # target end effector id
+string command  # operation to perform
+# Well known commands:
+string   CMD_NO_OP           = no_op
+string   CMD_SET             = set
+string   CMD_CONFIGURE       = configure
+string   CMD_REBOOT          = reboot
+string   CMD_RESET           = reset
+string   CMD_CALIBRATE       = calibrate
+string   CMD_CLEAR_CALIBRATION = clear_calibration
+string   CMD_PREPARE_TO_GRIP = prepare_to_grip
+string   CMD_GRIP            = grip
+string   CMD_RELEASE         = release
+string   CMD_GO              = go
+string   CMD_STOP            = stop
+#
+string args     # JSON arguments to the command
+#
+string sender   # optional identifier, returned in state when the command is handled
+uint32 sequence # optional sequence number, return in state when the command is handled
+

baxter_core_msgs/msg/EndEffectorProperties.msg

@@ -0,0 +1,26 @@
+uint32 id               # EndEffectorId
+uint8  ui_type
+    # End Effector type enumeration, for the UI:
+    uint8  NO_GRIPPER = 0
+    uint8  SUCTION_CUP_GRIPPER = 1
+    uint8  ELECTRIC_GRIPPER = 2
+    uint8  CUSTOM_GRIPPER = 3
+string manufacturer     # Manufacturer name
+string product          # Product name
+string serial_number    # Serial number, optional
+string hardware_rev     # Hardware revision, optional
+string firmware_rev     # Firmware revision, optional
+string firmware_date    # Firmware date, optional
+#
+# End Effector Capabilities
+bool   controls_grip    # true if the gripper has grip/release control
+bool   senses_grip      # true if the gripper has grip sense
+bool   reverses_grip    # true if the gripper has reverse-grip mode
+
+bool   controls_force   # true if the gripper has force control
+bool   senses_force     # true if the gripper has force sense
+
+bool   controls_position # true if the gripper has position control
+bool   senses_position   # true if the gripper has position sense
+#
+string properties       # JSON; other properties

baxter_msgs/msg/GripperState.msg → baxter_core_msgs/msg/EndEffectorState.msg

@@ -1,4 +1,8 @@
-# The following Gripper State fields are tristate: 0 = false; 1 = true; 2 = unknown/unsupported
+#
+time timestamp              # time when state was updated
+uint32 id                   # EndEffectorId
+#
+# The following State fields are tristate: 0 = false; 1 = true; 2 = unknown/unsupported
   uint8   STATE_FALSE = 0
   uint8   STATE_TRUE = 1
   uint8   STATE_UNKNOWN = 2
@@ -10,22 +14,7 @@ uint8   moving              # true if moving
 uint8   gripping            # true if gripping
 uint8   missed              # true if GRIP/GOTO/SET was commanded and the gripper reaches the end of travel
 uint8   error               # true if the gripper is in an error state
-#
-uint8   command             # current gripper command, one of the following:
-  # Note that while these have the same as values as the gripper opcodes they
-  # are not used that way.
-  uint8   CMD_IDLE            = 0 
-  uint8   CMD_GET_ID          = 1
-  uint8   CMD_RESET_ALL       = 2
-  uint8   CMD_RESET_FSM       = 3
-  uint8   CMD_CALIBRATE       = 4
-  uint8   CMD_PREPARE_TO_GRIP = 5
-  uint8   CMD_GRIP            = 6
-  uint8   CMD_RELEASE         = 7
-  uint8   CMD_GOTO            = 8
-  uint8   CMD_STOP            = 9
-  uint8   CMD_SET             = 10
-  uint8   CMD_CLEAR_CALIBRATION = 11
+uint8   reverse             # true if the gripper is in reverse mode
 #
 float32 position            # position as a percentage of the max position;      0=closed - 100=open
 #
@@ -37,3 +26,9 @@ float32 force               # force as a percentage of max force;
   float32 FORCE_MIN = 0.0
   float32 FORCE_MAX = 100.0
 #
+string state                # JSON: other state information
+#
+string command              # from the last command message
+string command_sender
+uint32 command_sequence
+#

baxter_core_msgs/msg/EndpointStates.msg

@@ -0,0 +1,3 @@
+string[] names
+EndpointState[] states
+

baxter_msgs/msg/ITB.msg → baxter_core_msgs/msg/ITBState.msg

@@ -5,7 +5,6 @@ bool    left
 bool    right
 uint8   wheel
 
-
 # true if the inner light is on, false if not
 bool innerLight
 

baxter_msgs/msg/ITBStates.msg → baxter_core_msgs/msg/ITBStates.msg

@@ -1,3 +1,3 @@
 # used when publishing multiple itbs
 string[]         names
-ITB[] states
+ITBState[] states

baxter_core_msgs/msg/JointCommand.msg

@@ -0,0 +1,7 @@
+int32 mode
+float64[] command
+string[]  names
+
+int32 POSITION_MODE=1
+int32 VELOCITY_MODE=2
+int32 TORQUE_MODE=3

baxter_core_msgs/msg/NavigatorState.msg

@@ -0,0 +1,14 @@
+# OK button
+bool ok
+# Cancel button
+bool cancel
+# Show button
+bool show
+# Wheel button
+uint8   wheel
+
+# true if the inner light is on, false if not
+bool innerLight
+
+# true if the outer light is on, false if not
+bool outerLight

baxter_core_msgs/msg/NavigatorStates.msg

@@ -0,0 +1,3 @@
+# used when publishing multiple navigators
+string[]         names
+NavigatorState[] states

baxter_core_msgs/msg/SEAJointState.msg

@@ -0,0 +1,29 @@
+# This is a message that holds data to describe the state of a set of torque controlled joints.
+#
+# The state of each joint (revolute or prismatic) is defined by:
+#  * the position of the joint (rad or m),
+#  * the velocity of the joint (rad/s or m/s) and
+#  * the effort that is applied in the joint (Nm or N).
+#
+# Each joint is uniquely identified by its name
+# The header specifies the time at which the joint states were recorded. All the joint states
+# in one message have to be recorded at the same time.
+#
+# This message consists of a multiple arrays, one for each part of the joint state.
+# The goal is to make each of the fields optional. When e.g. your joints have no
+# effort associated with them, you can leave the effort array empty.
+#
+# All arrays in this message should have the same size, or be empty.
+# This is the only way to uniquely associate the joint name with the correct
+# states.
+
+
+Header header
+
+string[] name
+float64[] position
+float64[] velocity
+float64[] effort
+float64[] gravity_model_effort
+float64[] hysteresis_model_effort
+float64[] crosstalk_model_effort

baxter_msgs/package.xml → baxter_core_msgs/package.xml

@@ -1,33 +1,35 @@
 <?xml version="1.0"?>
 <package>
-  <name>baxter_msgs</name>
-  <version>0.6.1</version>
+  <name>baxter_core_msgs</name>
+  <version>0.7.0</version>
   <description>
-    Messages and Services required for communication
-    with the Baxter robot from Rethink Robotics.
+    Messages and Services required for communication with the Baxter
+    Research Robot from Rethink Robotics.
   </description>
 
   <maintainer email="[email protected]">
     Rethink Robotics Inc.
   </maintainer>
   <license>BSD</license>
-  <url type="website">http://www.rethinkrobotics.com</url>
+  <url type="website">http://www.rethinkrobotics.com/sdk</url>
   <url type="repository">
-    https://github.com/RethinkRobotics/sdk-examples
+    https://github.com/RethinkRobotics/baxter_common
   </url>
   <url type="bugtracker">
-    https://github.com/RethinkRobotics/sdk-examples/issues
+    https://github.com/RethinkRobotics/baxter_common/issues
   </url>
   <author>Rethink Robotics Inc.</author>
 
   <buildtool_depend>catkin</buildtool_depend>
-  
+
   <build_depend>message_generation</build_depend>
-  <build_depend>std_msgs</build_depend>
   <build_depend>geometry_msgs</build_depend>
+  <build_depend>sensor_msgs</build_depend>
+  <build_depend>std_msgs</build_depend>
 
   <run_depend>message_runtime</run_depend>
-  <run_depend>std_msgs</run_depend>
   <run_depend>geometry_msgs</run_depend>
+  <run_depend>sensor_msgs</run_depend>
+  <run_depend>std_msgs</run_depend>
 
 </package>