Commit 1e56e008 authored by Sergi Hernandez's avatar Sergi Hernandez
Browse files

Solved a problem with the obstacles in the obstacles environment.

The obstacles can now be moved by the robot.
parent 7cff19f1
......@@ -10,6 +10,7 @@ find_package(catkin REQUIRED cmake_modules roscpp urdf controller_interface hard
# find_package(Boost REQUIRED COMPONENTS system)
FIND_PACKAGE(iriutils REQUIRED)
FIND_PACKAGE(comm REQUIRED)
FIND_PACKAGE(robotis_bin_parser REQUIRED)
FIND_PACKAGE(robotis_mtn REQUIRED)
FIND_PACKAGE(robotis_mtn_parser REQUIRED)
......@@ -91,7 +92,7 @@ catkin_package(
###########
SET(BIOLOID_FW_PATH ~/humanoids/cm510_controller_fw)
SET(ProjectPath ~/humanoids/cm510_controller_fw/examples/dexter/dexter_robot/proves/stairs)
SET(ProjectPath ~/humanoids/cm510_controller_fw/examples/pan_tilt)
## Specify additional locations of header files
## Your package locations should be listed before other locations
......@@ -102,10 +103,11 @@ include_directories(${BIOLOID_FW_PATH}/motion/include)
include_directories(${BIOLOID_FW_PATH}/communications/include)
include_directories(${BIOLOID_FW_PATH}/dyn_devices/include)
include_directories(${iriutils_INCLUDE_DIR})
include_directories(${comm_INCLUDE_DIR})
INCLUDE_DIRECTORIES(${robotis_bin_parser_INCLUDE_DIR})
INCLUDE_DIRECTORIES(${robotis_mtn_parser_INCLUDE_DIR})
INCLUDE_DIRECTORIES(${robotis_mtn_INCLUDE_DIR})
INCLUDE_DIRECTORIES(${ProjectPath}/../movements/)
#INCLUDE_DIRECTORIES(${ProjectPath}/../movements/)
## Declare a cpp library
# add_library(bioloid_controller
......@@ -116,7 +118,8 @@ add_library(${PROJECT_NAME} src/bioloid_controller_cm510.cpp
${BIOLOID_FW_PATH}/motion/src/motion_manager.c
${BIOLOID_FW_PATH}/motion/src/action.c
${BIOLOID_FW_PATH}/motion/src/balance.c
${BIOLOID_FW_PATH}/motion/src/mtn_library.c
${BIOLOID_FW_PATH}/motion/src/pan_tilt.c
# ${BIOLOID_FW_PATH}/motion/src/mtn_library.c
# dynamixel devices modules
${BIOLOID_FW_PATH}/dyn_devices/src/dyn_servos/dyn_servos.c
${BIOLOID_FW_PATH}/dyn_devices/src/exp_board/exp_board.c
......@@ -126,9 +129,8 @@ add_library(${PROJECT_NAME} src/bioloid_controller_cm510.cpp
${BIOLOID_FW_PATH}/controllers/src/buzzer.c
# communications modules
${BIOLOID_FW_PATH}/communications/src/dynamixel.c
${BIOLOID_FW_PATH}/communications/src/serial_console.c
# main application module
${ProjectPath}/main_2.c
${ProjectPath}/pan_tilt.c
# AVR simulation modules
src/sim/avr_delay.c
src/sim/avr_registers.c
......@@ -137,6 +139,7 @@ add_library(${PROJECT_NAME} src/bioloid_controller_cm510.cpp
src/sim/adc.c
src/sim/user_time.c
src/sim/exp_board_sim.c
src/sim/serial_console.cpp
include/bioloid_controller_cm510.h
include/bioloid_controller_cm510_impl.h)
......@@ -152,6 +155,7 @@ add_library(${PROJECT_NAME} src/bioloid_controller_cm510.cpp
# )
target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES})
target_link_libraries(${PROJECT_NAME} ${iriutils_LIBRARY})
target_link_libraries(${PROJECT_NAME} ${comm_LIBRARY})
TARGET_LINK_LIBRARIES(${PROJECT_NAME} ${robotis_bin_parser_LIBRARY})
TARGET_LINK_LIBRARIES(${PROJECT_NAME} ${robotis_mtn_parser_LIBRARY})
TARGET_LINK_LIBRARIES(${PROJECT_NAME} ${robotis_mtn_LIBRARY})
......
......@@ -49,7 +49,7 @@
</xacro:qrcode>
<gazebo reference="${name}_link">
<gravity>true</gravity>
<!-- <gravity>true</gravity>
<selfCollide>false</selfCollide>
<maxContacts>10</maxContacts>
<dampingFactor>0.2</dampingFactor>
......@@ -58,14 +58,14 @@
<mu1>0.200000</mu1>
<mu2>0.200000</mu2>
<kp>0.0</kp>
<kd>0.0</kd>
<kd>0.0</kd>-->
</gazebo>
<gazebo reference="${name}_joint">
<!-- <gazebo reference="${name}_joint">
<implicitSpringDamper>true</implicitSpringDamper>
<stopCfm>0.0</stopCfm>
<stopErp>0.0</stopErp>
</gazebo>
</gazebo>-->
</xacro:macro>
</root>
......
......@@ -5,11 +5,11 @@
<xacro:macro name="obstacle_base" params="name">
<!-- IR distance sensors -->
<link name="${name}_link">
<!-- <inertial>
<inertial>
<mass value="50"/>
<origin xyz="1.01500000 1.26500000 0.04510729" rpy="0 0 0"/>
<inertia ixx="32.72577613" ixy="0.0" ixz="0.0" iyy="22.18978101" iyz="0.0" izz="53.20566219" />
</inertial>-->
</inertial>
<inertial>
<mass value="1"/>
<origin xyz="1.01500000 1.26500000 0.04510729" rpy="0 0 0"/>
......
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