pushing new changes

Author: nddoshi

CMakeLists.txt

@@ -11,6 +11,7 @@ find_package(catkin REQUIRED COMPONENTS
   roscpp
   rospy
   std_msgs
+  message_generation
 )
 
 ## System dependencies are found with CMake's conventions
@@ -47,11 +48,18 @@ find_package(catkin REQUIRED COMPONENTS
 ##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
 
 ## Generate messages in the 'msg' folder
-# add_message_files(
-#   FILES
-#   Message1.msg
+add_message_files(
+  FILES
+  ControlCommand.msg
+  ControlCommandStamped.msg
+  FrictionParams.msg
+  FrictionParamsStamped.msg
+  QPDebug.msg
+  QPDebugStamped.msg
+  SlidingState.msg
+  SlidingStateStamped.msg
 #   Message2.msg
-# )
+)
 
 ## Generate services in the 'srv' folder
 # add_service_files(
@@ -68,10 +76,10 @@ find_package(catkin REQUIRED COMPONENTS
 # )
 
 ## Generate added messages and services with any dependencies listed here
-# generate_messages(
-#   DEPENDENCIES
-#   std_msgs
-# )
+generate_messages(
+  DEPENDENCIES
+  std_msgs
+)
 
 ################################################
 ## Declare ROS dynamic reconfigure parameters ##
@@ -105,7 +113,7 @@ find_package(catkin REQUIRED COMPONENTS
 catkin_package(
 #  INCLUDE_DIRS include
 #  LIBRARIES pbal
-#  CATKIN_DEPENDS roscpp rospy std_msgs
+ CATKIN_DEPENDS roscpp rospy std_msgs message_runtime
 #  DEPENDS system_lib
 )
 

msg/ControlCommand.msg

@@ -0,0 +1,13 @@
+string name                     # name of current command
+bool command_flag               # 0 = absolute, 1 = relative
+int8 mode                       # primitive
+
+# relative commands
+float32 delta_theta
+float32 delta_x_pivot
+float32 delta_s
+
+# absolute commands
+float32 theta
+float32 x_pivot
+float32 s

msg/ControlCommandStamped.msg

@@ -0,0 +1,2 @@
+Header header
+pbal/ControlCommand control_command

msg/FrictionParams.msg

@@ -0,0 +1,12 @@
+float32[] A_pivot_left          # A in Ax <= b for left ground friction
+float32[] b_pivot_left          # b in Ax <= b for left ground friction
+float32[] A_pivot_right         # A in Ax <= b for right ground friction
+float32[] b_pivot_right         # b in Ax <= b for right ground friction
+bool use_env_left               # Use conservative defaults for left if False
+bool use_env_right              # Use conservative defaults for right if False
+
+float32[] A_robot_left          # A in Ax <= b for left robot friction
+float32 b_robot_left            # b in Ax <= b for left robot friction
+float32[] A_robot_right         # A in Ax <= b for right robot friction
+float32 b_robot_right           # b in Ax <= b for right robot friction
+bool use_robot                  # Use conservative defaults if False

msg/FrictionParamsStamped.msg

@@ -0,0 +1,2 @@
+Header header
+pbal/FrictionParams friction_params

msg/GroundTruth.msg

@@ -0,0 +1,19 @@
+
+# robot kinematics
+float32 hand_angle
+float32[] hand_pose
+float32[] hand_sliding
+
+# object kinematics
+float32 object_angle 
+float32[] object_pose
+float32[] object_sliding 
+float32[] pivot_locations
+
+# ground 
+float32 ground_angle
+
+# perception 
+string shape_name
+int8 apriltag_id
+bool object_dectected

msg/GroundTruthStamped.msg

@@ -0,0 +1,2 @@
+Header header
+pbal/GroundTruth ground_truth

msg/QPDebug.msg

@@ -0,0 +1,25 @@
+# primitive info
+string name                             # primitive name
+int8 mode                                 # primitive mode
+string error_dict_keys                    # current primitive error keys
+float32[] error_dict_vals                 # current primitive error vals
+bool snewrb                               # did state exist 
+
+# QP costs
+float32[] quadratic_cost_term             # Q in cost: 0.5*dw^T*Q*dw + l^T*dw
+float32[] linear_cost_term                # l in cost: 0.5*dw^T*Q*dw + l^T*dw
+float32[] proj_vec_list                   # motion directions in cost
+float32[] error_list                      # list of errors?
+
+# QP constraints
+string label_list_cnstr                      # comma constraint names
+float32[] constraint_normals              # A in A*dw <= b
+float32[] constraint_offsets              # biq
+float32[] measured_wrench                 # w
+float32[] slacks                          # b in A*dw <= b, equal to A*w - biq
+
+# Solution
+float32 solve_time                          # time to solve [s]
+float32[] delta_wrench                    # solution to QP (dw)
+float32[] delta_wrench_unconstrained      # solution to QP w/o constraints
+

msg/QPDebugStamped.msg

@@ -0,0 +1,2 @@
+Header header
+pbal/QPDebug qp_debug

msg/SlidingState.msg

@@ -0,0 +1,7 @@
+bool pivot_sliding_left     # True if pivot sliding left
+bool pivot_sliding_right    # True if pivot sliding right           
+bool pivot_sliding          # pivot_sliding_left || pivot_sliding_right
+
+bool robot_sliding_left     # True if pivot sliding left
+bool robot_sliding_right    # True if pivot sliding right           
+bool robot_sliding          # robot_sliding_left || robot_sliding_right

msg/SlidingStateStamped.msg

@@ -0,0 +1,2 @@
+Header header
+pbal/SlidingState sliding_state

package.xml

@@ -36,18 +36,20 @@
   <!--   Note that this is equivalent to the following: -->
   <!--   <build_depend>roscpp</build_depend> -->
   <!--   <exec_depend>roscpp</exec_depend> -->
-  <!-- Use build_depend for packages you need at compile time: -->
-  <!--   <build_depend>message_generation</build_depend> -->
   <!-- Use build_export_depend for packages you need in order to build against this package: -->
   <!--   <build_export_depend>message_generation</build_export_depend> -->
   <!-- Use buildtool_depend for build tool packages: -->
   <!--   <buildtool_depend>catkin</buildtool_depend> -->
-  <!-- Use exec_depend for packages you need at runtime: -->
-  <!--   <exec_depend>message_runtime</exec_depend> -->
   <!-- Use test_depend for packages you need only for testing: -->
   <!--   <test_depend>gtest</test_depend> -->
   <!-- Use doc_depend for packages you need only for building documentation: -->
   <!--   <doc_depend>doxygen</doc_depend> -->
+
+  <!-- Use build_depend for packages you need at compile time: -->
+  <build_depend>message_generation</build_depend>
+  <!-- Use exec_depend for packages you need at runtime: -->
+  <exec_depend>message_runtime</exec_depend>
+  
   <buildtool_depend>catkin</buildtool_depend>
   <build_depend>roscpp</build_depend>
   <build_depend>rospy</build_depend>