initial commit - still many things todo

README.md

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+# Dobot M1 ROS Control
+There are following directories available:
+
+debot_m1: Meta-Package
+dobot_m1_description: urdf and meshes
+dobot_m1_hw: ros control/hardware interface using dobot PTPCmd interface
+dobot_m1_moveit: moveit configuration 
+dobot_demo: simple point to point demo 
+
+
+## Starting the package:
+roslaunch dobot_m1 dobot_m1.launch
+
+## ToDo
+- Fix Simulation in Gazebo
+

dobot_m1/CMakeLists.txt

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+cmake_minimum_required(VERSION 2.8.3)
+project(dobot_m1)
+find_package(catkin REQUIRED)
+catkin_metapackage()

dobot_m1/package.xml

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+<package format="2">
+  <name>dobot_m1</name>
+  <version>0.0.1</version>
+  <description>
+    Dobot M1 ROS meta-package containing dobot_m1 pkgs.
+  </description>
+  <maintainer email="[email protected]">Simon Haller</maintainer>
+  <license>GPLv2</license>
+
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <!--> PACKAGES </-->  
+  <exec_depend>dobot_m1_description</exec_depend>
+  <exec_depend>dobot_m1_hw</exec_depend>
+
+  <export>
+    <metapackage/>
+  </export>
+</package>

dobot_m1_demos/CMakeLists.txt

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+cmake_minimum_required(VERSION 2.8.3)
+project(dobot_m1_demos)
+
+find_package(catkin REQUIRED COMPONENTS
+  rospy
+  trajectory_msgs
+  message_generation
+)
+
+generate_messages(
+  DEPENDENCIES
+  std_msgs
+  trajectory_msgs
+)
+
+catkin_package(
+  CATKIN_DEPENDS message_runtime
+)
+
+include_directories(
+  ${catkin_INCLUDE_DIRS}
+)
+

dobot_m1_demos/package.xml

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+<?xml version="1.0"?>
+<package format="2">
+  <name>dobot_m1_demos</name>
+  <version>0.0.1</version>
+  <description>
+    simple demos for Dobot M1
+  </description>
+  <maintainer email="[email protected]">Simon Haller</maintainer>
+  <license>GPLv2</license>
+
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>rospy</build_depend>
+  <build_depend>trajectory_msgs</build_depend>
+  <build_depend>message_generation</build_depend>
+  <build_export_depend>rospy</build_export_depend>
+  <exec_depend>rospy</exec_depend>
+  <exec_depend>message_runtime</exec_depend>
+  <exec_depend>trajectory_msgs</exec_depend>
+</package>

dobot_m1_demos/src/dobot-move-position.py

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+#!/usr/bin/python
+import rospy
+from trajectory_msgs.msg import JointTrajectory
+from trajectory_msgs.msg import JointTrajectoryPoint
+import time
+
+msg= JointTrajectory()
+msg.joint_names=['dobot_m1_z_axis_joint', 'dobot_m1_axis_2_joint', 'dobot_m1_axis_3_joint', 'dobot_m1_axis_4_joint']
+
+point=JointTrajectoryPoint()
+Pos0=[0.23, -1.2, 1.5, 1.5]
+Pos1=[0.2, 0, 0, 0]
+Pos2=[0.15, 1.2, -1.5, -1.5]
+
+
+def goTo(pub, pos):
+  point.time_from_start=rospy.Duration(0.1)
+  point.positions=pos
+  msg.points=[point]
+  pub.publish(msg)
+
+
+def main():
+  rospy.init_node("Demo-Dobot")
+  rate=rospy.Rate(1)
+  pub=rospy.Publisher('/dobby/joint_trajectory_controller/command', JointTrajectory, queue_size=1)
+
+  raw_input("Press any key to continue with step")
+  goTo(pub, Pos1)
+  rate.sleep()
+
+  raw_input("Press any key to continue with step")
+  goTo(pub, Pos0)
+  rate.sleep()
+
+  raw_input("Press any key to continue with step")
+  goTo(pub, Pos1)
+  rate.sleep()
+
+  raw_input("Press any key to continue with step")
+  goTo(pub, Pos2)
+  rate.sleep()
+
+if __name__ == "__main__":
+  main()
+
+

dobot_m1_description/CMakeLists.txt

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+cmake_minimum_required(VERSION 2.8.3)
+project(dobot_m1_description)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+#######################################
+## Declare ROS messages and services ##
+#######################################
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+#   FILES
+#   Message1.msg
+#   Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+#   FILES
+#   Service1.srv
+#   Service2.srv
+# )
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+#   DEPENDENCIES
+#   std_msgs  # Or other packages containing msgs
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if you package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+#  INCLUDE_DIRS include
+#  LIBRARIES kit_headtest
+#  CATKIN_DEPENDS other_catkin_pkg
+#  DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+# include_directories(include)
+
+## Declare a cpp library
+# add_library(kit_headtest
+#   src/${PROJECT_NAME}/kit_headtest.cpp
+# )
+
+## Declare a cpp executable
+# add_executable(kit_headtest_node src/kit_headtest_node.cpp)
+
+## Add cmake target dependencies of the executable/library
+## as an example, message headers may need to be generated before nodes
+# add_dependencies(kit_headtest_node kit_headtest_generate_messages_cpp)
+
+## Specify libraries to link a library or executable target against
+# target_link_libraries(kit_headtest_node
+#   ${catkin_LIBRARIES}
+# )
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# install(PROGRAMS
+#   scripts/my_python_script
+#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables and/or libraries for installation
+# install(TARGETS kit_headtest kit_headtest_node
+#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+#   FILES_MATCHING PATTERN "*.h"
+#   PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+#   # myfile1
+#   # myfile2
+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_kit_headtest.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)

dobot_m1_description/launch/display.launch

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+<launch>
+	<arg name="gui" default="True" />
+	<param name="robot_description" command="$(find xacro)/xacro --inorder $(find dobot_m1_description)/robot/dobot_m1_in_world.urdf.xacro"/>
+	<param name="use_gui" value="$(arg gui)"/>
+
+	<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />
+	<node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
+</launch>

dobot_m1_description/launch/dobot-m1.launch

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+<launch>
+    <!-- LAUNCH INTERFACE -->
+    <arg name="gui" default="true" />
+    <arg name="robot_name" default="dobby"/>
+    <arg name="use_rviz" default="true"/>
+    <arg name="use_joint_state_publisher" default="true"/>
+    <arg name="use_robot_sim" default="true"/>
+    <arg name="load_moveit" default="true"/>
+
+    <param name="robot_description" command="$(find xacro)/xacro --inorder $(find dobot_m1_description)/robot/dobot_m1_in_world.urdf.xacro"/>
+
+
+    <group if="$(arg use_joint_state_publisher)">
+      <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
+         <param name="use_gui" value="$(arg gui)"/>
+         <rosparam param="source_list">[/dobby/joint_states]</rosparam>
+      </node>
+    </group>
+
+    <param name="publish_frequency" value="100"/>
+    <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"  />
+
+    <group if="$(arg use_rviz)">
+        <node name="my_rviz" pkg="rviz" type="rviz" respawn="false" args="-d $(find dobot_m1_description)/launch/rviz_config.rviz" output="screen"/>
+    </group>
+
+
+    <!-- simulation and planning -->
+    <group if="$(arg use_robot_sim)">
+        <!-- Spawn the full robot into Gazebo  -->
+        <node name="spawn_robot" pkg="gazebo_ros" type="spawn_model" args="-param robot_description -urdf -model $(arg robot_name)" respawn="false" output="screen"/>
+
+        <!-- load Gazebo simulation environment -->
+        <include file="$(find gazebo_ros)/launch/empty_world.launch">
+            <!-- when using the real/sim scenario in parallel, set "use_enabled_time" to false -->
+            <arg name="use_sim_time" value="true"/>
+            <arg name="gui" value="true"/>
+            <arg name="headless" value="true"/>
+            <arg name="debug" value="false"/>
+        </include>
+    </group>
+
+    <!-- load moveit configuration -->
+    <group if="$(arg load_moveit)">
+        <include file="$(find dobot_m1_moveit)/launch/move_group.launch">
+            <arg name="allow_trajectory_execution" value="true"/>  
+            <arg name="fake_execution" value="false"/>
+            <arg name="info" value="true"/>
+            <arg name="debug" value="false"/>
+        </include>
+    </group>
+
+    <!-- controllers are launched always, since either real or simulated hardware will be present -->
+    <group ns="$(arg robot_name)"> 
+      <rosparam command="load" file="$(find dobot_m1_hw)/config/controllers.yaml"/>
+
+      <group if="$(arg use_robot_sim)">
+        <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher"/>
+      </group>
+      <group unless="$(arg use_robot_sim)">
+        <include file="$(find dobot_m1_hw)/launch/dobot_m1_hw.launch">
+          <arg name="enabled" value="true"/>
+          <!-- to implement as param + other dobot settings <param name="deviceIP" value="192.168.1.192"/> -->
+        </include>
+      </group>
+
+      <!-- load the controllers in current namespace -->
+      <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen"  args="joint_state_controller joint_trajectory_controller" />
+
+    </group>
+
+</launch>