diff --git a/cob_hardware_config/CMakeLists.txt b/cob_hardware_config/CMakeLists.txt
index 70b5c4507..0fcc56548 100644
--- a/cob_hardware_config/CMakeLists.txt
+++ b/cob_hardware_config/CMakeLists.txt
@@ -1,31 +1,18 @@
-cmake_minimum_required(VERSION 3.0.2)
+cmake_minimum_required(VERSION 3.5)
project(cob_hardware_config)
-find_package(catkin REQUIRED)
-catkin_package()
+find_package(ament_cmake REQUIRED)
-### TESTING ###
-if(CATKIN_ENABLE_TESTING)
- find_package(cob_supported_robots REQUIRED)
- find_package(roslaunch REQUIRED)
- find_package(rostest REQUIRED)
- # loop through list of robots for testing
- foreach(robot ${cob_supported_robots_ROBOTLIST})
- message("testing for robot: ${robot}")
- roslaunch_add_file_check(upload_robot.launch robot:=${robot})
- add_rostest(test/urdf.test ARGS robot:=${robot})
- endforeach()
-endif()
-
-### INSTALL ###
-install(DIRECTORY robots test
- DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+install(
+ DIRECTORY robots launch test
+ DESTINATION share/${PROJECT_NAME}
)
-install(FILES upload_robot.launch
- DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
-)
+ament_export_dependencies(${THIS_PACKAGE_INCLUDE_DEPENDS})
-install(FILES display_robot.launch
- DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
-)
+if(BUILD_TESTING)
+ find_package(ament_cmake_pytest REQUIRED)
+ ament_add_pytest_test(ur_urdf_xacro test/test_view_cob_launch.py)
+endif()
+
+ament_package()
\ No newline at end of file
diff --git a/cob_hardware_config/display_robot.launch b/cob_hardware_config/display_robot.launch
deleted file mode 100644
index 72da83444..000000000
--- a/cob_hardware_config/display_robot.launch
+++ /dev/null
@@ -1,27 +0,0 @@
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
diff --git a/cob_hardware_config/launch/display_robot.launch.py b/cob_hardware_config/launch/display_robot.launch.py
new file mode 100644
index 000000000..460800aa8
--- /dev/null
+++ b/cob_hardware_config/launch/display_robot.launch.py
@@ -0,0 +1,96 @@
+# Copyright 2024 Fraunhofer IPA
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+#
+# Author: Nadia Hammoudeh Garcia
+
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import Command, FindExecutable, LaunchConfiguration, PathJoinSubstitution
+from launch_ros.actions import Node
+from launch_ros.substitutions import FindPackageShare
+from ament_index_python.packages import get_package_share_directory
+from launch_ros.parameters_type import ParameterValue
+import os
+import xacro
+import subprocess
+
+def generate_launch_description():
+ declared_arguments = []
+ declared_arguments.append(
+ DeclareLaunchArgument(
+ "robot",
+ description="Robot name.",
+ choices=["cob4-25"],
+ )
+ )
+ declared_arguments.append(
+ DeclareLaunchArgument(
+ "pkg_hardware_config",
+ default_value="cob_hardware_config",
+ description="Name of the package that contains the robot configuration.",
+ )
+ )
+ declared_arguments.append(
+ DeclareLaunchArgument(
+ "description_file",
+ default_value=[LaunchConfiguration("robot"),".urdf.xacro"],
+ description="File containing the robot description.",
+ )
+ )
+
+ # Initialize Arguments
+ robot = LaunchConfiguration("robot")
+ pkg_hardware_config = LaunchConfiguration("pkg_hardware_config")
+ description_file = LaunchConfiguration("description_file")
+
+ xacro_file= os.path.join(get_package_share_directory("cob_hardware_config"),"robots","cob4-25","urdf","cob4-25.urdf.xacro")
+ doc = xacro.parse(open(xacro_file))
+ xacro.process_doc(doc)
+ robot_description = {'robot_description': doc.toxml()}
+
+ # xacro_command = [
+ # "xacro",
+ # PathJoinSubstitution([FindPackageShare(pkg_hardware_config), "robots", robot, "urdf", description_file]),
+ # ]
+ # robot_description = {"robot_description": Command(xacro_command)}
+
+ rviz_config_file = PathJoinSubstitution(
+ [FindPackageShare(pkg_hardware_config), "robots", robot, "view_robot.rviz"]
+ )
+
+ joint_state_publisher_node = Node(
+ package="joint_state_publisher_gui",
+ executable="joint_state_publisher_gui",
+ )
+ robot_state_publisher_node = Node(
+ package="robot_state_publisher",
+ executable="robot_state_publisher",
+ output="both",
+ parameters=[robot_description],
+ )
+ rviz_node = Node(
+ package="rviz2",
+ executable="rviz2",
+ name="rviz2",
+ output="log",
+ arguments=["-d", rviz_config_file],
+ )
+
+ nodes_to_start = [
+ joint_state_publisher_node,
+ robot_state_publisher_node,
+ rviz_node,
+ ]
+
+ return LaunchDescription(declared_arguments + nodes_to_start)
diff --git a/cob_hardware_config/package.xml b/cob_hardware_config/package.xml
index 07f7a174c..74bb653b9 100644
--- a/cob_hardware_config/package.xml
+++ b/cob_hardware_config/package.xml
@@ -10,31 +10,31 @@
Felix Messmer
Felix Messmer
- Nadia Hammoudeh Garcia
Florian Weisshardt
+ Nadia Hammoudeh Garcia
- catkin
-
+ ament_cmake
+
+ joint_state_publisher_gui
cob_calibration_data
cob_description
cob_omni_drive_controller
- costmap_2d
- diagnostic_aggregator
- joint_state_controller
- joint_state_publisher
- joint_state_publisher_gui
- joint_trajectory_controller
- laser_filters
- position_controllers
- raw_description
+
+ launch
+ launch_ros
robot_state_publisher
- rviz
-
- velocity_controllers
+ rviz2
+ urdf
xacro
- cob_supported_robots
- roslaunch
- rostest
+ ament_cmake_pytest
+ launch_testing_ament_cmake
+ launch_testing_ros
+ liburdfdom-tools
+ xacro
+
+
+ ament_cmake
+
diff --git a/cob_hardware_config/robots/cob4-25/cob4-25.rviz b/cob_hardware_config/robots/cob4-25/cob4-25.rviz
deleted file mode 100644
index 5fe9fd1d1..000000000
--- a/cob_hardware_config/robots/cob4-25/cob4-25.rviz
+++ /dev/null
@@ -1,622 +0,0 @@
-Panels:
- - Class: rviz/Displays
- Help Height: 78
- Name: Displays
- Property Tree Widget:
- Expanded:
- - /Global Options1
- - /TF1/Frames1
- Splitter Ratio: 0.804714
- Tree Height: 843
- - Class: rviz/Selection
- Name: Selection
- - Class: rviz/Tool Properties
- Expanded:
- - /2D Pose Estimate1
- - /2D Nav Goal1
- Name: Tool Properties
- Splitter Ratio: 0.588679
- - Class: rviz/Views
- Expanded:
- - /Current View1
- Name: Views
- Splitter Ratio: 0.5
- - Class: rviz/Time
- Experimental: false
- Name: Time
- SyncMode: 0
- SyncSource: LaserScan Left
-Visualization Manager:
- Class: ""
- Displays:
- - Alpha: 0.5
- Cell Size: 1
- Class: rviz/Grid
- Color: 160; 160; 164
- Enabled: true
- Line Style:
- Line Width: 0.03
- Value: Lines
- Name: Grid
- Normal Cell Count: 0
- Offset:
- X: 0
- Y: 0
- Z: 0
- Plane: XY
- Plane Cell Count: 10
- Reference Frame:
- Value: true
- - Alpha: 1
- Class: rviz/RobotModel
- Collision Enabled: false
- Enabled: true
- Links:
- All Links Enabled: true
- Expand Joint Details: false
- Expand Link Details: false
- Expand Tree: false
- Link Tree Style: Links in Alphabetic Order
- b_caster_r_wheel_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- b_caster_rotation_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- base_charger_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- base_chassis_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- base_footprint:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- base_laser_front_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- base_laser_left_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- base_laser_right_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- base_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- fl_caster_r_wheel_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- fl_caster_rotation_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- fr_caster_r_wheel_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- fr_caster_rotation_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- head_1_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- head_2_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- head_3_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- head_base_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- head_cam_frame:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- head_cam_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- head_cam_optical_frame:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- head_center_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- sensorring_base_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- sensorring_cam3d_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- sensorring_cam3d_mount_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- sensorring_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- torso_1_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- torso_2_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- torso_3_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- torso_base_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- torso_cam3d_down_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- torso_cam3d_down_mount_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- torso_cam3d_left_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- torso_cam3d_left_mount_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- torso_cam3d_right_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- torso_cam3d_right_mount_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- torso_center_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- Name: RobotModel
- Robot Description: robot_description
- TF Prefix: ""
- Update Interval: 0
- Value: true
- Visual Enabled: true
- - Class: rviz/TF
- Enabled: false
- Frame Timeout: 15
- Frames:
- All Enabled: false
- Marker Scale: 1
- Name: TF
- Show Arrows: true
- Show Axes: true
- Show Names: true
- Tree:
- {}
- Update Interval: 0
- Value: false
- - Alpha: 1
- Autocompute Intensity Bounds: true
- Autocompute Value Bounds:
- Max Value: 10
- Min Value: -10
- Value: true
- Axis: Z
- Channel Name: x
- Class: rviz/LaserScan
- Color: 0; 255; 0
- Color Transformer: FlatColor
- Decay Time: 0
- Enabled: true
- Invert Rainbow: false
- Max Color: 0; 255; 0
- Max Intensity: 10.454
- Min Color: 0; 255; 0
- Min Intensity: 0.227896
- Name: LaserScan Front
- Position Transformer: XYZ
- Queue Size: 10
- Selectable: true
- Size (Pixels): 3
- Size (m): 0.025
- Style: Spheres
- Topic: /base_laser_front/scan
- Unreliable: false
- Use Fixed Frame: true
- Use rainbow: true
- Value: true
- - Alpha: 1
- Autocompute Intensity Bounds: true
- Autocompute Value Bounds:
- Max Value: 10
- Min Value: -10
- Value: true
- Axis: Z
- Channel Name: intensity
- Class: rviz/LaserScan
- Color: 0; 255; 0
- Color Transformer: FlatColor
- Decay Time: 0
- Enabled: true
- Invert Rainbow: false
- Max Color: 255; 255; 255
- Max Intensity: 0
- Min Color: 0; 255; 0
- Min Intensity: 0
- Name: LaserScan Left
- Position Transformer: XYZ
- Queue Size: 10
- Selectable: true
- Size (Pixels): 3
- Size (m): 0.025
- Style: Spheres
- Topic: /base_laser_left/scan
- Unreliable: false
- Use Fixed Frame: true
- Use rainbow: true
- Value: true
- - Alpha: 1
- Autocompute Intensity Bounds: true
- Autocompute Value Bounds:
- Max Value: 10
- Min Value: -10
- Value: true
- Axis: Z
- Channel Name: intensity
- Class: rviz/LaserScan
- Color: 0; 255; 0
- Color Transformer: FlatColor
- Decay Time: 0
- Enabled: true
- Invert Rainbow: false
- Max Color: 255; 255; 255
- Max Intensity: 4096
- Min Color: 0; 0; 0
- Min Intensity: 0
- Name: LaserScan Right
- Position Transformer: XYZ
- Queue Size: 10
- Selectable: true
- Size (Pixels): 3
- Size (m): 0.025
- Style: Spheres
- Topic: /base_laser_right/scan
- Unreliable: false
- Use Fixed Frame: true
- Use rainbow: true
- Value: true
- - Class: rviz/Marker
- Enabled: true
- Marker Topic: /sound/marker
- Name: SoundMarker
- Namespaces:
- {}
- Queue Size: 100
- Value: true
- - Class: rviz/Marker
- Enabled: true
- Marker Topic: /light_base/marker
- Name: LightBaseMarker
- Namespaces:
- color: true
- Queue Size: 100
- Value: true
- - Class: rviz/Marker
- Enabled: true
- Marker Topic: /light_torso/marker
- Name: LightTorsoMarker
- Namespaces:
- color: true
- Queue Size: 100
- Value: true
- - Class: rviz/Image
- Enabled: false
- Image Topic: /torso_cam3d_down_upright/rgb/image_raw
- Max Value: 1
- Median window: 5
- Min Value: 0
- Name: TorsoCam3dDownImage
- Normalize Range: true
- Queue Size: 2
- Transport Hint: raw
- Unreliable: false
- Value: false
- - Class: rviz/Image
- Enabled: false
- Image Topic: /torso_cam3d_left_upright/rgb/image_raw
- Max Value: 1
- Median window: 5
- Min Value: 0
- Name: TorsoCam3dLeftImage
- Normalize Range: true
- Queue Size: 2
- Transport Hint: raw
- Unreliable: false
- Value: false
- - Class: rviz/Image
- Enabled: false
- Image Topic: /torso_cam3d_right_upright/rgb/image_raw
- Max Value: 1
- Median window: 5
- Min Value: 0
- Name: TorsoCam3dRightImage
- Normalize Range: true
- Queue Size: 2
- Transport Hint: raw
- Unreliable: false
- Value: false
- - Class: rviz/Image
- Enabled: false
- Image Topic: /sensorring_cam3d_upright/rgb/image_raw
- Max Value: 1
- Median window: 5
- Min Value: 0
- Name: SensorringCam3dImage
- Normalize Range: true
- Queue Size: 2
- Transport Hint: raw
- Unreliable: false
- Value: false
- - Class: rviz/Image
- Enabled: false
- Image Topic: /head_cam_upright/image_rect_color
- Max Value: 1
- Median window: 5
- Min Value: 0
- Name: HeadCamdImage
- Normalize Range: true
- Queue Size: 2
- Transport Hint: raw
- Unreliable: false
- Value: false
- - Alpha: 1
- Autocompute Intensity Bounds: true
- Autocompute Value Bounds:
- Max Value: 10
- Min Value: -10
- Value: true
- Axis: Z
- Channel Name: intensity
- Class: rviz/PointCloud2
- Color: 255; 255; 255
- Color Transformer: RGB8
- Decay Time: 0
- Enabled: false
- Invert Rainbow: false
- Max Color: 255; 255; 255
- Max Intensity: 4096
- Min Color: 0; 0; 0
- Min Intensity: 0
- Name: TorsoCam3dDownPointCloud2
- Position Transformer: XYZ
- Queue Size: 10
- Selectable: true
- Size (Pixels): 3
- Size (m): 0.01
- Style: Flat Squares
- Topic: /torso_cam3d_down_upright/depth/points
- Unreliable: false
- Use Fixed Frame: true
- Use rainbow: true
- Value: false
- - Alpha: 1
- Autocompute Intensity Bounds: true
- Autocompute Value Bounds:
- Max Value: 10
- Min Value: -10
- Value: true
- Axis: Z
- Channel Name: intensity
- Class: rviz/PointCloud2
- Color: 255; 255; 255
- Color Transformer: RGB8
- Decay Time: 0
- Enabled: false
- Invert Rainbow: false
- Max Color: 255; 255; 255
- Max Intensity: 4096
- Min Color: 0; 0; 0
- Min Intensity: 0
- Name: TorsoCam3dLeftPointCloud2
- Position Transformer: XYZ
- Queue Size: 10
- Selectable: true
- Size (Pixels): 3
- Size (m): 0.01
- Style: Flat Squares
- Topic: /torso_cam3d_left_upright/depth/points
- Unreliable: false
- Use Fixed Frame: true
- Use rainbow: true
- Value: false
- - Alpha: 1
- Autocompute Intensity Bounds: true
- Autocompute Value Bounds:
- Max Value: 10
- Min Value: -10
- Value: true
- Axis: Z
- Channel Name: intensity
- Class: rviz/PointCloud2
- Color: 255; 255; 255
- Color Transformer: RGB8
- Decay Time: 0
- Enabled: false
- Invert Rainbow: false
- Max Color: 255; 255; 255
- Max Intensity: 4096
- Min Color: 0; 0; 0
- Min Intensity: 0
- Name: TorsoCam3dRightPointCloud2
- Position Transformer: XYZ
- Queue Size: 10
- Selectable: true
- Size (Pixels): 3
- Size (m): 0.01
- Style: Flat Squares
- Topic: /torso_cam3d_right_upright/depth/points
- Unreliable: false
- Use Fixed Frame: true
- Use rainbow: true
- Value: false
- - Alpha: 1
- Autocompute Intensity Bounds: true
- Autocompute Value Bounds:
- Max Value: 10
- Min Value: -10
- Value: true
- Axis: Z
- Channel Name: intensity
- Class: rviz/PointCloud2
- Color: 255; 255; 255
- Color Transformer: RGB8
- Decay Time: 0
- Enabled: false
- Invert Rainbow: false
- Max Color: 255; 255; 255
- Max Intensity: 4096
- Min Color: 0; 0; 0
- Min Intensity: 0
- Name: SensorringCam3dPointCloud2
- Position Transformer: XYZ
- Queue Size: 10
- Selectable: true
- Size (Pixels): 3
- Size (m): 0.01
- Style: Flat Squares
- Topic: /sensorring_cam3d_upright/depth/points
- Unreliable: false
- Use Fixed Frame: true
- Use rainbow: true
- Value: false
- - Alpha: 0.7
- Class: rviz/Map
- Color Scheme: map
- Draw Behind: false
- Enabled: false
- Name: Map
- Topic: /map
- Unreliable: false
- Use Timestamp: false
- Value: false
- Enabled: true
- Global Options:
- Background Color: 48; 48; 48
- Default Light: true
- Fixed Frame: base_link
- Frame Rate: 30
- Name: root
- Tools:
- - Class: rviz/Interact
- Hide Inactive Objects: true
- - Class: rviz/MoveCamera
- - Class: rviz/Select
- - Class: rviz/Measure
- - Class: rviz/SetInitialPose
- Topic: /initialpose
- - Class: rviz/SetGoal
- Topic: /move_base_simple/goal
- Value: true
- Views:
- Current:
- Class: rviz/Orbit
- Distance: 19.5897
- Enable Stereo Rendering:
- Stereo Eye Separation: 0.06
- Stereo Focal Distance: 1
- Swap Stereo Eyes: false
- Value: false
- Focal Point:
- X: 0.891724
- Y: -0.865633
- Z: 1.0872
- Focal Shape Fixed Size: true
- Focal Shape Size: 0.0500000007
- Invert Z Axis: false
- Name: Current View
- Near Clip Distance: 0.01
- Pitch: 0.509797
- Target Frame:
- Value: Orbit (rviz)
- Yaw: 4.28313
- Saved: ~
-Window Geometry:
- Displays:
- collapsed: false
- HeadCamdImage:
- collapsed: false
- Height: 1016
- Hide Left Dock: false
- Hide Right Dock: false
- QMainWindow State: 000000ff00000000fd000000040000000000000223000003a4fc0200000007fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003a000003a4000000c600fffffffb0000000c00430061006d00650072006100000002a5000000cd0000000000000000fb0000001a004800650061006400430061006d00640049006d0061006700650000000313000000cb0000001600ffffff0000000100000169000003a4fc0200000007fb000000260054006f00720073006f00430061006d003300640044006f0077006e0049006d006100670065000000003a000003a40000001600fffffffb000000260054006f00720073006f00430061006d00330064004c0065006600740049006d006100670065000000003a000003a40000001600fffffffb000000280054006f00720073006f00430061006d00330064005200690067006800740049006d006100670065000000003a000003a40000001600fffffffb0000002800530065006e0073006f007200720069006e006700430061006d003300640049006d006100670065000000003a000003a40000001600fffffffb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000028000003260000009e00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004a00000003efc0100000002fb0000000800540069006d00650000000000000004a00000024400fffffffb0000000800540069006d0065010000000000000450000000000000000000000517000003a400000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
- Selection:
- collapsed: false
- SensorringCam3dImage:
- collapsed: false
- Time:
- collapsed: false
- Tool Properties:
- collapsed: false
- TorsoCam3dDownImage:
- collapsed: false
- TorsoCam3dLeftImage:
- collapsed: false
- TorsoCam3dRightImage:
- collapsed: false
- Views:
- collapsed: false
- Width: 1856
- X: 64
- Y: 27
diff --git a/cob_hardware_config/robots/cob4-25/view_robot.rviz b/cob_hardware_config/robots/cob4-25/view_robot.rviz
new file mode 100644
index 000000000..e6d00b788
--- /dev/null
+++ b/cob_hardware_config/robots/cob4-25/view_robot.rviz
@@ -0,0 +1,197 @@
+Panels:
+ - Class: rviz_common/Displays
+ Help Height: 87
+ Name: Displays
+ Property Tree Widget:
+ Expanded:
+ - /RobotModel1/Description Topic1
+ Splitter Ratio: 0.5
+ Tree Height: 1096
+ - Class: rviz_common/Selection
+ Name: Selection
+ - Class: rviz_common/Tool Properties
+ Expanded:
+ - /2D Goal Pose1
+ - /Publish Point1
+ Name: Tool Properties
+ Splitter Ratio: 0.5886790156364441
+ - Class: rviz_common/Views
+ Expanded:
+ - /Current View1
+ Name: Views
+ Splitter Ratio: 0.5
+Visualization Manager:
+ Class: ""
+ Displays:
+ - Alpha: 0.5
+ Cell Size: 1
+ Class: rviz_default_plugins/Grid
+ Color: 160; 160; 164
+ Enabled: true
+ Line Style:
+ Line Width: 0.029999999329447746
+ Value: Lines
+ Name: Grid
+ Normal Cell Count: 0
+ Offset:
+ X: 0
+ Y: 0
+ Z: 0
+ Plane: XY
+ Plane Cell Count: 10
+ Reference Frame:
+ Value: true
+ - Alpha: 1
+ Class: rviz_default_plugins/RobotModel
+ Collision Enabled: false
+ Description File: ""
+ Description Source: Topic
+ Description Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /robot_description
+ Enabled: true
+ Links:
+ All Links Enabled: true
+ Expand Joint Details: false
+ Expand Link Details: false
+ Expand Tree: false
+ Link Tree Style: Links in Alphabetic Order
+ base:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ base_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ base_link_inertia:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ flange:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ forearm_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ shoulder_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ tool0:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ upper_arm_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ wrist_1_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ wrist_2_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ wrist_3_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ Name: RobotModel
+ TF Prefix: ""
+ Update Interval: 0
+ Value: true
+ Visual Enabled: true
+ Enabled: true
+ Global Options:
+ Background Color: 48; 48; 48
+ Fixed Frame: base_link
+ Frame Rate: 30
+ Name: root
+ Tools:
+ - Class: rviz_default_plugins/Interact
+ Hide Inactive Objects: true
+ - Class: rviz_default_plugins/MoveCamera
+ - Class: rviz_default_plugins/Select
+ - Class: rviz_default_plugins/FocusCamera
+ - Class: rviz_default_plugins/Measure
+ Line color: 128; 128; 0
+ - Class: rviz_default_plugins/SetInitialPose
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /initialpose
+ - Class: rviz_default_plugins/SetGoal
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /goal_pose
+ - Class: rviz_default_plugins/PublishPoint
+ Single click: true
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /clicked_point
+ Transformation:
+ Current:
+ Class: rviz_default_plugins/TF
+ Value: true
+ Views:
+ Current:
+ Class: rviz_default_plugins/Orbit
+ Distance: 3.493516445159912
+ Enable Stereo Rendering:
+ Stereo Eye Separation: 0.05999999865889549
+ Stereo Focal Distance: 1
+ Swap Stereo Eyes: false
+ Value: false
+ Focal Point:
+ X: -0.0457618348300457
+ Y: -0.07058511674404144
+ Z: 0.49734944105148315
+ Focal Shape Fixed Size: true
+ Focal Shape Size: 0.05000000074505806
+ Invert Z Axis: false
+ Name: Current View
+ Near Clip Distance: 0.009999999776482582
+ Pitch: 0.15039828419685364
+ Target Frame:
+ Value: Orbit (rviz)
+ Yaw: 0.5353983640670776
+ Saved: ~
+Window Geometry:
+ Displays:
+ collapsed: false
+ Height: 1379
+ Hide Left Dock: false
+ Hide Right Dock: false
+ QMainWindow State: 000000ff00000000fd00000004000000000000016a000004f0fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000007901000003fb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000048000004f00000010101000003fb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c000002610000000100000110000004f0fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730100000048000004f0000000db01000003fb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d0065010000000000000450000000000000000000000784000004f000000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+ Selection:
+ collapsed: false
+ Tool Properties:
+ collapsed: false
+ Views:
+ collapsed: false
+ Width: 2560
+ X: 0
+ Y: 30
+
diff --git a/cob_hardware_config/test/test_view_cob_launch.py b/cob_hardware_config/test/test_view_cob_launch.py
new file mode 100644
index 000000000..3c6c36ded
--- /dev/null
+++ b/cob_hardware_config/test/test_view_cob_launch.py
@@ -0,0 +1,51 @@
+# Copyright (c) 2022 FZI Forschungszentrum Informatik
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#
+# * Redistributions of source code must retain the above copyright
+# notice, this list of conditions and the following disclaimer.
+#
+# * 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.
+#
+# * 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.
+#
+# Author: Lukas Sackewitz
+
+import os
+import pytest
+
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch.actions import IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch_testing.actions import ReadyToTest
+
+
+# Executes the given launch file and checks if all nodes can be started
+@pytest.mark.rostest
+def generate_test_description():
+ launch_include = IncludeLaunchDescription(
+ PythonLaunchDescriptionSource(
+ os.path.join(get_package_share_directory("cob_hardware_config"), "display_robot.launch.py")
+ ),
+ launch_arguments={"robot": "cob4-25"}.items(),
+ )
+
+ return LaunchDescription([launch_include, ReadyToTest()])
diff --git a/cob_hardware_config/test/urdf.test b/cob_hardware_config/test/urdf.test
deleted file mode 100644
index 1e7c910db..000000000
--- a/cob_hardware_config/test/urdf.test
+++ /dev/null
@@ -1,7 +0,0 @@
-
-
-
-
-
-
-
diff --git a/cob_hardware_config/upload_robot.launch b/cob_hardware_config/upload_robot.launch
deleted file mode 100644
index f8f79aa36..000000000
--- a/cob_hardware_config/upload_robot.launch
+++ /dev/null
@@ -1,10 +0,0 @@
-
-
-
-
-
-
-
-
-
-