Merge branch 'master' into sim_rviz

Author: toshan-luktuke

.gitignore

@@ -2,9 +2,7 @@
 # Created by https://www.gitignore.io/api/c
 # Edit at https://www.gitignore.io/?templates=c
 
-
 .vscode
-
 ### C ###
 # Prerequisites
 *.d

4_simulation_gazebo/README.md

@@ -1,4 +1,4 @@
-# Table fo Contents
+# Table of Contents
 * [Steps to run the demo in Gazebo](#steps-to-run-the-demo-in-gazebo) 
 * [Using RQT to send commands](#using-rqt-to-send-commands)
 * [Steps For Running the Scripts in Gazebo](#steps-for-running-the-scripts-in-gazebo)
@@ -22,10 +22,10 @@ In this section we'll go over tools to help you visualize the performance of you
 Start RQT:
 
 ```
-rosrun rqt_gui rqt_gui
+rqt
 ```
 ### Add a Command Publisher
-On the 'Plugins' menu of RQT add the 'Topics->Message Publisher' plugin then choose the topic from the drop down box that commands any particular controller that you want to publish to. For the RRBot, add the controller:
+On the 'Plugins' menu of RQT add the `Topics` --> `Message Publisher` plugin then choose the topic from the drop down box that commands any particular controller that you want to publish to. For the RRBot, add the controller:
 
 ```
 /manipulator/joint_1_controller/command

4_simulation_gazebo/config/manipulator.yaml

@@ -15,4 +15,12 @@ manipulator:
         type: effort_controllers/JointPositionController
         joint: joint_3
         pid: {p: 9.5, i: 0.1, d: 0.01}
+    joint_4_controller:
+        type: effort_controllers/JointPositionController
+        joint: joint_4
+        pid: {p: 0.1, i: 0, d: 0}
+    joint_5_controller:
+        type: effort_controllers/JointPositionController
+        joint: joint_5
+        pid: {p: 0.1, i: 0, d: 0}
 

4_simulation_gazebo/launch/gazebo.launch

@@ -21,7 +21,9 @@
     args="joint_state_controller
       joint_1_controller
       joint_2_controller
-      joint_3_controller"
+      joint_3_controller
+      joint_4_controller
+      joint_5_controller"
   />
   <param name="robot_description"  command="cat $(find simulation_gazebo)/urdf/manipulator.urdf" />
   <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="false" output="screen">

4_simulation_gazebo/meshes/base_link.STL

@@ -1,5 +1,7 @@
 Link Name,Center of Mass X,Center of Mass Y,Center of Mass Z,Center of Mass Roll,Center of Mass Pitch,Center of Mass Yaw,Mass,Moment Ixx,Moment Ixy,Moment Ixz,Moment Iyy,Moment Iyz,Moment Izz,Visual X,Visual Y,Visual Z,Visual Roll,Visual Pitch,Visual Yaw,Mesh Filename,Color Red,Color Green,Color Blue,Color Alpha,Collision X,Collision Y,Collision Z,Collision Roll,Collision Pitch,Collision Yaw,Collision Mesh Filename,Material Name,SW Components,Coordinate System,Axis Name,Joint Name,Joint Type,Joint Origin X,Joint Origin Y,Joint Origin Z,Joint Origin Roll,Joint Origin Pitch,Joint Origin Yaw,Parent,Joint Axis X,Joint Axis Y,Joint Axis Z,Limit Effort,Limit Velocity,Limit Lower,Limit Upper,Calibration rising,Calibration falling,Dynamics Damping,Dynamics Friction,Safety Soft Upper,Safety Soft Lower,Safety K Position,Safety K Velocity
-link_0,-0.0021206,0.0002459,0.064773,0,0,0,0.09286,5.326E-05,-1.315E-07,-2.2253E-08,5.6454E-05,-6.8881E-23,8.948E-05,0,0,0,0,0,0,package://manipulator_ws_3/meshes/link_0.STL,0.79216,0.81961,0.93333,1,0,0,0,0,0,0,package://manipulator_ws_3/meshes/link_0.STL,,"link_0-1/armbaselower-1;link_0-1/servorod-1;link_0-1/servorod-2;link_0-1/servorod-3;link_0-1/black_servo-1/TOWER PRO MG-995, ANALOG SERVO, BODY, BOTTOM-1;link_0-1/black_servo-1/TOWER PRO MG-995, ANALOG SERVO, BODY, TOP-1;link_0-1/armbaseupper-1;link_0-1/black_servo-1/TOWER PRO MG-995, ANALOG SERVO, BODY, MIDDLE-1",Coordinate System1,,,,0,0,0,0,0,0,,0,0,0,,,,,,,,,,,,
-link_1,-1.4162E-05,0.0091539,0.0097543,0,0,0,0.021123,3.515E-06,2.2398E-16,-1.8348E-15,7.5839E-06,2.8002E-09,7.0937E-06,0,0,0,0,0,0,package://manipulator_ws_3/meshes/link_1.STL,0.79216,0.81961,0.93333,1,0,0,0,0,0,0,package://manipulator_ws_3/meshes/link_1.STL,,"link_1-1/servo1horn-1;link_1-1/horn_with_servo_shaft-1/TOWER PRO MG-995, ANALOG SERVO, HORN-1;link_1-1/horn_with_servo_shaft-1/micro_servo_shaft-1;link_1-1/manipart3-2-1;link_1-1/micro_servo-2/micro_servo_lower_body-1;link_1-1/micro_servo-2/micro_servo_middle_body-1;link_1-1/micro_servo-2/micro_servo_upper_body-1",Coordinate System2,Axis_joint_1,joint_1,continuous,0.0029256,-5.3727E-05,0.1232,0,0,0.011222,link_0,0,0,1,,,,,,,,,,,,
-link_2,0.040762,9.3746E-11,0.00077048,0,0,0,0.016936,1.0452E-06,1.6239E-15,-2.8002E-09,1.958E-05,2.8964E-16,2.0421E-05,0,0,0,0,0,0,package://manipulator_ws_3/meshes/link_2.STL,0.64706,0.51765,0,1,0,0,0,0,0,0,package://manipulator_ws_3/meshes/link_2.STL,,"link_2-1/horn_with_servo_shaft-1/micro_servo_shaft-1;link_2-1/horn_with_servo_shaft-1/TOWER PRO MG-995, ANALOG SERVO, HORN-1;link_2-1/manipart1-1;link_2-1/micro_servo-1/micro_servo_upper_body-1;link_2-1/micro_servo-1/micro_servo_middle_body-1;link_2-1/micro_servo-1/micro_servo_lower_body-1",Coordinate System3,Axis_joint_2,joint_2,continuous,-0.00029839,0.01004,0.039318,1.5708,0.0098142,0,link_1,0.009814,-0.99995,0,,,,,,,,,,,,
-link_3,0.01702,0.00029705,-0.0010045,0,0,0,0.0089186,2.3882E-07,-7.0517E-08,5.0478E-20,4.278E-06,-3.9823E-20,4.3426E-06,0,0,0,0,0,0,package://manipulator_ws_3/meshes/link_3.STL,0.50196,0.50196,0.50196,1,0,0,0,0,0,0,package://manipulator_ws_3/meshes/link_3.STL,,"link_3-1/horn_with_servo_shaft-1/TOWER PRO MG-995, ANALOG SERVO, HORN-1;link_3-1/horn_with_servo_shaft-1/micro_servo_shaft-1;link_3-1/manipart2-1",Coordinate System5,,joint_3,continuous,0.1199,0,0.01365,0,0,0,link_2,0,0,1,,,,,,,,,,,,
+base_link,0.0021253,0.047935,0.027764,0,0,0,0.0896,5.041E-05,-8.5548E-08,3.2278E-08,6.5382E-05,4.1605E-12,0.00010836,0,0,0,0,0,0,package://MARIO_v5/meshes/base_link.STL,0.62745,0.62745,0.62745,1,0,0,0,0,0,0,package://MARIO_v5/meshes/base_link.STL,,1_lower_baseplate_v4-1;2_upper_baseplate_v2-1;MG995.step-1;Servo_MG995_Star_horn-1,Coordinate System1,,,,0,0,0,0,0,0,,0,0,0,,,,,,,,,,,,
+link_1,-0.00017376,-0.015933,0.017371,0,0,0,0.024846,3.4858E-06,2.3072E-08,-6.6524E-10,7.2894E-06,-1.2663E-08,7.0045E-06,0,0,0,0,0,0,package://MARIO_v5/meshes/link_1.STL,0.79216,0.81961,0.93333,1,0,0,0,0,0,0,package://MARIO_v5/meshes/link_1.STL,,rectanglr_base-1;Perp-1;SG90 - Micro Servo 9g - Tower Pro.1-1;SG90 - Micro Servo 9g - Tower Pro.3-1,joint_1,Axis_joint_1,joint_1,revolute,-0.0030196,0.046937,0.0635,0,0,0,base_link,0,0,1,0,0,0,0,,,,,,,,
+link_2,0.05189,-0.0024721,-0.0024701,0,0,0,0.01633,6.549E-07,1.9218E-08,2.8287E-07,5.9038E-06,-1.005E-09,5.3932E-06,0,0,0,0,0,0,package://MARIO_v5/meshes/link_2.STL,0.79216,0.81961,0.93333,1,0,0,0,0,0,0,package://MARIO_v5/meshes/link_2.STL,,5_lower_arm-1;SG90 - Micro Servo 9g - Tower Pro.1-2;SG90 - Micro Servo 9g - Tower Pro.3-2,joint_2,,joint_2,fixed,0.00031511,-0.0095653,0.034407,0,0,0,link_1,0,0,0,1,1,0,3.14,,,,,,,,
+link_3,0.0037357,-0.001707,-0.066045,0,0,0,0.019923,5.6378E-06,3.6797E-09,4.2574E-07,5.2184E-06,6.2841E-08,1.4011E-06,0,0,0,0,0,0,package://MARIO_v5/meshes/link_3.STL,0.79216,0.81961,0.93333,1,0,0,0,0,0,0,package://MARIO_v5/meshes/link_3.STL,,Link2-1;Lauda-1;SG90 - Micro Servo 9g - Tower Pro.1-3;SG90 - Micro Servo 9g - Tower Pro.3-3,joint_3,,joint_3,fixed,0.071531,0.011279,-0.0041348,0,0,0,link_2,0,0,0,1,1,0,3.14,,,,,,,,
+claw_right,0.0018122,0.0028283,-0.0079472,0,0,0,0.013225,3.2338E-06,-2.8172E-08,2.6752E-07,2.7116E-06,2.4983E-07,5.8458E-07,0,0,0,0,0,0,package://MARIO_v5/meshes/claw_right.STL,0.77647,0.75686,0.73725,1,0,0,0,0,0,0,package://MARIO_v5/meshes/claw_right.STL,,mariogear-1,joint_4,,joint_4,fixed,0.020925,-0.013767,-0.090331,0,0,0,link_3,0,0,0,0,0,0,0.8,,,,,,,,
+claw_left,0.013771,0.012345,-0.01495,0,0,0,0.013641,3.4175E-06,3.0134E-09,2.7613E-07,2.8184E-06,-6.8499E-08,6.6306E-07,0,0,0,0,0,0,package://MARIO_v5/meshes/claw_left.STL,0.77647,0.75686,0.73725,1,0,0,0,0,0,0,package://MARIO_v5/meshes/claw_left.STL,,mariogear2-1,joint_5,,joint_5,fixed,0.0091023,0.0042709,-0.083012,0,0,0,link_3,0,0,0,0,0,0,0.8,,,,,,,,