Merge pull request #75 from robotology/devel

Merge devel in master and tag 1.18.0

AddUninstallTarget.cmake

@@ -0,0 +1,102 @@
+#.rst:
+# AddUninstallTarget
+# ------------------
+#
+# Add the "uninstall" target for your project::
+#
+#   include(AddUninstallTarget)
+#
+#
+# will create a file ``cmake_uninstall.cmake`` in the build directory and add a
+# custom target ``uninstall`` (or ``UNINSTALL`` on Visual Studio and Xcode) that
+# will remove the files installed by your package (using
+# ``install_manifest.txt``).
+# See also
+# https://gitlab.kitware.com/cmake/community/wikis/FAQ#can-i-do-make-uninstall-with-cmake
+#
+# The :module:`AddUninstallTarget` module must be included in your main
+# ``CMakeLists.txt``. If included in a subdirectory it does nothing.
+# This allows you to use it safely in your main ``CMakeLists.txt`` and include
+# your project using ``add_subdirectory`` (for example when using it with
+# :cmake:module:`FetchContent`).
+#
+# If the ``uninstall`` target already exists, the module does nothing.
+
+#=============================================================================
+# Copyright 2008-2013 Kitware, Inc.
+# Copyright 2013 Istituto Italiano di Tecnologia (IIT)
+#   Authors: Daniele E. Domenichelli <[email protected]>
+#
+# Distributed under the OSI-approved BSD License (the "License");
+# see accompanying file Copyright.txt for details.
+#
+# This software is distributed WITHOUT ANY WARRANTY; without even the
+# implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+# See the License for more information.
+#=============================================================================
+# (To distribute this file outside of CMake, substitute the full
+#  License text for the above reference.)
+
+
+# AddUninstallTarget works only when included in the main CMakeLists.txt
+if(NOT "${CMAKE_CURRENT_BINARY_DIR}" STREQUAL "${CMAKE_BINARY_DIR}")
+  return()
+endif()
+
+# The name of the target is uppercase in MSVC and Xcode (for coherence with the
+# other standard targets)
+if("${CMAKE_GENERATOR}" MATCHES "^(Visual Studio|Xcode)")
+  set(_uninstall "UNINSTALL")
+else()
+  set(_uninstall "uninstall")
+endif()
+
+# If target is already defined don't do anything
+if(TARGET ${_uninstall})
+  return()
+endif()
+
+
+set(_filename cmake_uninstall.cmake)
+
+file(WRITE "${CMAKE_CURRENT_BINARY_DIR}/${_filename}"
+"if(NOT EXISTS \"${CMAKE_CURRENT_BINARY_DIR}/install_manifest.txt\")
+  message(WARNING \"Cannot find install manifest: \\\"${CMAKE_CURRENT_BINARY_DIR}/install_manifest.txt\\\"\")
+  return()
+endif()
+
+file(READ \"${CMAKE_CURRENT_BINARY_DIR}/install_manifest.txt\" files)
+string(STRIP \"\${files}\" files)
+string(REGEX REPLACE \"\\n\" \";\" files \"\${files}\")
+list(REVERSE files)
+foreach(file \${files})
+  if(IS_SYMLINK \"\$ENV{DESTDIR}\${file}\" OR EXISTS \"\$ENV{DESTDIR}\${file}\")
+    message(STATUS \"Uninstalling: \$ENV{DESTDIR}\${file}\")
+    execute_process(
+      COMMAND \${CMAKE_COMMAND} -E remove \"\$ENV{DESTDIR}\${file}\"
+      OUTPUT_VARIABLE rm_out
+      RESULT_VARIABLE rm_retval)
+    if(NOT \"\${rm_retval}\" EQUAL 0)
+      message(FATAL_ERROR \"Problem when removing \\\"\$ENV{DESTDIR}\${file}\\\"\")
+    endif()
+  else()
+    message(STATUS \"Not-found: \$ENV{DESTDIR}\${file}\")
+  endif()
+endforeach(file)
+")
+
+set(_desc "Uninstall the project...")
+if(CMAKE_GENERATOR STREQUAL "Unix Makefiles")
+  set(_comment COMMAND \$\(CMAKE_COMMAND\) -E cmake_echo_color --switch=$\(COLOR\) --cyan "${_desc}")
+else()
+  set(_comment COMMENT "${_desc}")
+endif()
+add_custom_target(${_uninstall}
+                  ${_comment}
+                  COMMAND ${CMAKE_COMMAND} -P ${_filename}
+                  USES_TERMINAL
+                  BYPRODUCTS uninstall_byproduct
+                  WORKING_DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}")
+set_property(SOURCE uninstall_byproduct PROPERTY SYMBOLIC 1)
+
+set_property(TARGET ${_uninstall} PROPERTY FOLDER "CMakePredefinedTargets")

CHANGELOG.md

@@ -0,0 +1,18 @@
+# Changelog
+All notable changes to this project will be documented in this file.
+
+The format of this document is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
+
+## [Unreleased]
+
+## [1.18.0] - 2020-11-30
+
+### Added
+- Added first URDF model for the iCub3, namely the `iCubGazeboV3`  with inertia modified to run in Gazebo Classic, and iCubGenova09 for control of the real robot. 
+  As the development of this model is an ongoing activity, interested users are suggested to keep in sync with the updates that will happen in the `devel` branch. 
+
+### Changed
+- The `base_link` massless link is now a child of the `root_link` link instead of being a parent. This has the effect that now when the URDF model of iCub is imported
+  in Gazebo, after fixed joint lumping the link corresponding to the robot waist will be `root_link`, instead of `base_link`. This means that when the iCub model is included 
+  in a nested model, the joint to connect it to the rest of the model should refer to `iCub::root_link` instead of `iCub::base_link`
+  (https://github.com/robotology/icub-models-generator/pull/142, https://github.com/robotology/icub-models-generator/issues/140#issuecomment-700653608).

CMakeLists.txt

@@ -48,8 +48,9 @@ endif()
 set(GAZEBO_SUPPORTED_MODELS "")
 list(APPEND GAZEBO_SUPPORTED_MODELS "iCubGazeboV2_5")
 list(APPEND GAZEBO_SUPPORTED_MODELS "iCubGazeboV2_5_plus")
+list(APPEND GAZEBO_SUPPORTED_MODELS "iCubGazeboV3")
 
-SUBDIRLIST(ROBOTS_NAMES ${CMAKE_CURRENT_BINARY_DIR}/iCub/robots)
+SUBDIRLIST(ROBOTS_NAMES ${CMAKE_CURRENT_SOURCE_DIR}/iCub/robots)
 foreach(ROBOT_DIRNAME ${ROBOTS_NAMES})
   set(ROBOT_NAME ${ROBOT_DIRNAME})
   set(ROBOT_MODEL_CONFIG_FILE "${CMAKE_CURRENT_BINARY_DIR}/iCub/robots/${ROBOT_NAME}/model.config")
@@ -116,3 +117,5 @@ endforeach()
 # Install the whole iCub directory
 install(DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/iCub DESTINATION share)
 
+include(AddUninstallTarget.cmake)
+

fixed_model.sdf.in

@@ -8,7 +8,7 @@
 
     <joint name="fixed_base" type="fixed">
       <parent>world</parent>
-      <child>iCub::base_link</child>
+      <child>iCub::root_link</child>
     </joint>
   </model>
 </sdf>

iCub/conf/FT/gazebo_icub_left_foot_front_ft.ini

@@ -0,0 +1,7 @@
+[include "../gazebo_icub_robotname.ini"]
+
+name /${gazeboYarpPluginsRobotName}/left_foot_front/analog:o
+period 10
+
+device analogServer
+

iCub/conf/FT/gazebo_icub_left_foot_rear_ft.ini

@@ -0,0 +1,7 @@
+[include "../gazebo_icub_robotname.ini"]
+
+name /${gazeboYarpPluginsRobotName}/left_foot_rear/analog:o
+period 10
+
+device analogServer
+

iCub/conf/FT/gazebo_icub_right_foot_front_ft.ini

@@ -0,0 +1,6 @@
+[include "../gazebo_icub_robotname.ini"]
+
+name /${gazeboYarpPluginsRobotName}/right_foot_front/analog:o
+period 10
+
+device analogServer

iCub/conf/FT/gazebo_icub_right_foot_rear_ft.ini

@@ -0,0 +1,6 @@
+[include "../gazebo_icub_robotname.ini"]
+
+name /${gazeboYarpPluginsRobotName}/right_foot_rear/analog:o
+period 10
+
+device analogServer

iCub/conf/gazebo_icub_left_arm_no_forearm.ini

@@ -0,0 +1,74 @@
+[include "gazebo_icub_robotname.ini"]
+
+[WRAPPER]
+# name of the wrapper device to be instatiated by the factory
+device controlboardwrapper2
+# rate of output streaming from ports in ms
+period 10
+# output port name
+name /${gazeboYarpPluginsRobotName}/left_arm
+# Total number of joints
+joints 3
+# list of MotorControl device to use
+networks ( left_arm_no_forarm )
+# for each network specify the joint map
+left_arm_no_hand 0 2 0 2
+
+# Verbose output (on if present, off if commented out)
+#verbose
+
+[TRAJECTORY_GENERATION]
+trajectory_type minimum_jerk
+
+# Specify configuration of MotorControl devices
+[left_arm_no_hand]
+# name of the device to be instatiated by the factory
+device gazebo_controlboard
+#jointNames list
+jointNames l_shoulder_pitch l_shoulder_roll l_shoulder_yaw
+name left_arm_no_forarm
+
+min_stiffness 0.0    0.0    0.0 
+max_stiffness 1000.0 1000.0 1000.0
+min_damping   0.0    0.0    0.0
+max_damping   100.0  100.0  100.0
+
+#PIDs:
+# this information is used to set the PID values in simulation for GAZEBO, we need only the first three values
+[POSITION_CONTROL]
+controlUnits  metric_units
+controlLaw    joint_pid_gazebo_v1
+kp            1.745 1.745 1.745
+kd            0.174 0.174 0.174
+ki            0.174 0.174 0.174
+maxInt        9999  9999  9999
+maxOutput     9999  9999  9999
+shift         0.0   0.0   0.0
+ko            0.0   0.0   0.0
+stictionUp    0.0   0.0   0.0
+stictionDwn   0.0   0.0   0.0
+
+[VELOCITY_CONTROL]
+controlUnits  metric_units
+controlLaw    joint_pid_gazebo_v1
+kp            8.726 8.726 8.726
+kd            0.035 0.035 0.035
+ki            0.002 0.002 0.002
+maxInt        9999  9999  9999
+maxOutput     9999  9999  9999
+shift         0.0   0.0   0.0
+ko            0.0   0.0   0.0
+stictionUp    0.0   0.0   0.0
+stictionDwn   0.0   0.0   0.0
+
+[IMPEDANCE_CONTROL]
+controlUnits  metric_units
+controlLaw    joint_pid_gazebo_v1
+stiffness     0.0   0.0   0.0
+damping       0.0   0.0   0.0
+
+[LIMITS]
+jntPosMax 13.0 160.0 80.0
+jntPosMin -88.0 12.0 -50.0
+jntVelMax 100.0 100.0 100.0
+

iCub/conf/gazebo_icub_right_arm_no_forearm.ini

@@ -0,0 +1,73 @@
+[include "gazebo_icub_robotname.ini"]
+
+[WRAPPER]
+# name of the wrapper device to be instatiated by the factory
+device controlboardwrapper2
+# rate of output streaming from ports in ms
+period 10
+# output port name (a leading '/' will be added by code)
+name /${gazeboYarpPluginsRobotName}/right_arm
+# Total number of joints
+joints 3
+# list of MotorControl device to use
+networks ( right_arm_no_forearm )
+# for each network specify the joint map
+right_arm_no_hand 0 2 0 2
+
+# Verbose output (on if present, off if commented out)
+#verbose
+
+[TRAJECTORY_GENERATION]
+trajectory_type minimum_jerk
+
+# Specify configuration of MotorControl devices
+[right_arm_no_hand]
+# name of the device to be instatiated by the factory
+device gazebo_controlboard
+#jointNames list
+jointNames r_shoulder_pitch r_shoulder_roll r_shoulder_yaw
+name right_arm_no_forearm
+
+min_stiffness 0.0    0.0    0.0   
+max_stiffness 1000.0 1000.0 1000.0
+min_damping   0.0    0.0    0.0
+max_damping   100.0  100.0  100.0
+
+#PIDs:
+# this information is used to set the PID values in simulation for GAZEBO, we need only the first three values
+[POSITION_CONTROL]
+controlUnits  metric_units
+controlLaw    joint_pid_gazebo_v1
+kp            1.745 1.745 1.745
+kd            0.174 0.174 0.174
+ki            0.174 0.174 0.174
+maxInt        9999  9999  9999
+maxOutput     9999  9999  9999
+shift         0.0   0.0   0.0
+ko            0.0   0.0   0.0
+stictionUp    0.0   0.0   0.0
+stictionDwn   0.0   0.0   0.0
+
+[VELOCITY_CONTROL]
+controlUnits  metric_units
+controlLaw    joint_pid_gazebo_v1
+kp            8.726 8.726 8.726
+kd            0.035 0.035 0.035
+ki            0.002 0.002 0.002
+maxInt        9999  9999  9999
+maxOutput     9999  9999  9999
+shift         0.0   0.0   0.0
+ko            0.0   0.0   0.0
+stictionUp    0.0   0.0   0.0
+stictionDwn   0.0   0.0   0.0
+
+[IMPEDANCE_CONTROL]
+controlUnits  metric_units
+controlLaw    joint_pid_gazebo_v1
+stiffness     0.0   0.0   0.0
+damping       0.0   0.0   0.0
+
+[LIMITS]
+jntPosMax 13.0 160.0 80.0
+jntPosMin -88.0 12.0 -50.0
+jntVelMax 100.0 100.0 100.0

iCub/conf_icub3/FT/gazebo_icub_left_arm_ft.ini

@@ -0,0 +1,7 @@
+[include "../gazebo_icub_robotname.ini"]
+
+name /${gazeboYarpPluginsRobotName}/left_arm/analog:o
+period 10
+
+device analogServer
+

iCub/conf_icub3/FT/gazebo_icub_left_foot_front_ft.ini

@@ -0,0 +1,7 @@
+[include "../gazebo_icub_robotname.ini"]
+
+name /${gazeboYarpPluginsRobotName}/left_foot_front/analog:o
+period 10
+
+device analogServer
+

iCub/conf_icub3/FT/gazebo_icub_left_foot_rear_ft.ini

@@ -0,0 +1,7 @@
+[include "../gazebo_icub_robotname.ini"]
+
+name /${gazeboYarpPluginsRobotName}/left_foot_rear/analog:o
+period 10
+
+device analogServer
+

iCub/conf_icub3/FT/gazebo_icub_left_leg_ft.ini

@@ -0,0 +1,7 @@
+[include "../gazebo_icub_robotname.ini"]
+
+name /${gazeboYarpPluginsRobotName}/left_leg/analog:o
+period 10
+
+device analogServer
+

iCub/conf_icub3/FT/gazebo_icub_right_arm_ft.ini

@@ -0,0 +1,7 @@
+[include "../gazebo_icub_robotname.ini"]
+
+name /${gazeboYarpPluginsRobotName}/right_arm/analog:o
+period 10
+
+device analogServer
+

iCub/conf_icub3/FT/gazebo_icub_right_foot_front_ft.ini

@@ -0,0 +1,6 @@
+[include "../gazebo_icub_robotname.ini"]
+
+name /${gazeboYarpPluginsRobotName}/right_foot_front/analog:o
+period 10
+
+device analogServer

iCub/conf_icub3/FT/gazebo_icub_right_foot_rear_ft.ini

@@ -0,0 +1,6 @@
+[include "../gazebo_icub_robotname.ini"]
+
+name /${gazeboYarpPluginsRobotName}/right_foot_rear/analog:o
+period 10
+
+device analogServer

iCub/conf_icub3/FT/gazebo_icub_right_leg_ft.ini

@@ -0,0 +1,6 @@
+[include "../gazebo_icub_robotname.ini"]
+
+name /${gazeboYarpPluginsRobotName}/right_leg/analog:o
+period 10
+
+device analogServer