diff --git a/.ci.xacro_test.sh b/.ci.xacro_test.sh new file mode 100644 index 000000000..a80e8a661 --- /dev/null +++ b/.ci.xacro_test.sh @@ -0,0 +1,14 @@ +#!/bin/sh +status=0 +# Only set --inorder if running on older ROS 1 distros; for ROS 2 (Humble) we don't need it. +if [ -n "$ROS_DISTRO" ] && { [ "$ROS_DISTRO" = "indigo" ] || [ "$ROS_DISTRO" = "jade" ] || [ "$ROS_DISTRO" = "kinetic" ]; }; then + xacro_args='--inorder' +else + xacro_args='' +fi + +for x in $(find "$TARGET_REPO_PATH" -name '*.xacro' | sort); do + echo "Testing $x" + xacro $xacro_args "$x" > /dev/null || status=1 +done +exit $status diff --git a/.github/dependabot.yml b/.github/dependabot.yml new file mode 100644 index 000000000..23c4cb3b5 --- /dev/null +++ b/.github/dependabot.yml @@ -0,0 +1,7 @@ +--- +version: 2 +updates: + - package-ecosystem: "github-actions" + directory: "/" + schedule: + interval: "weekly" diff --git a/.github/workflows/main.yml b/.github/workflows/main.yml new file mode 100644 index 000000000..c32034838 --- /dev/null +++ b/.github/workflows/main.yml @@ -0,0 +1,40 @@ +name: GHA CI + +on: + push: + pull_request: + schedule: + - cron: "0 0 * * 0" # every Sunday at midnight + workflow_dispatch: + +jobs: + industrial_ci: + name: GHA CI + runs-on: ubuntu-latest + timeout-minutes: 60 + + env: + ADDITIONAL_DEBS: 'apt-utils dialog git' + AFTER_SCRIPT: 'rosenv sh .ci.xacro_test.sh' + CATKIN_LINT: pedantic + CATKIN_LINT_ARGS: '--ignore description_boilerplate' + CMAKE_ARGS: -DCMAKE_BUILD_TYPE=Release + PYLINT_ARGS: '--output-format=parseable --errors-only' + PYLINT_CHECK: true + ROS_REPO: main + + strategy: + matrix: + include: + - { ROS_DISTRO: noetic } + + steps: + - uses: actions/checkout@v4 + with: + submodules: true + lfs: true + ssh-known-hosts: '' + + - uses: ros-industrial/industrial_ci@master + with: + config: ${{toJSON(matrix)}} diff --git a/.travis.xacro_test.sh b/.travis.xacro_test.sh deleted file mode 100644 index d53f97b3e..000000000 --- a/.travis.xacro_test.sh +++ /dev/null @@ -1,8 +0,0 @@ -#!/bin/sh -status=0 -[ "$ROS_DISTRO" \< "melodic" ] && xacro_args='--inorder' -for x in $(find "$TARGET_REPO_PATH" -name '*.xacro'|sort); do - echo "Testing $x" - xacro $xacro_args "$x" > /dev/null || status=1 -done -exit $status diff --git a/.travis.yml b/.travis.yml deleted file mode 100644 index 82e8ba442..000000000 --- a/.travis.yml +++ /dev/null @@ -1,26 +0,0 @@ -language: generic -services: - - docker - -notifications: - email: - on_success: change - on_failure: always -env: - global: - - ADDITIONAL_DEBS='apt-utils curl dialog wget' - - AFTER_SCRIPT='rosenv sh .travis.xacro_test.sh' - - CATKIN_LINT=pedantic - - CATKIN_LINT_ARGS='--ignore description_boilerplate' - - CMAKE_ARGS=-DCMAKE_BUILD_TYPE=Release - - PYLINT_ARGS="--output-format=parseable --errors-only" - - PYLINT_CHECK=true - - ROS_REPO=main - matrix: - - ROS_DISTRO=kinetic - - ROS_DISTRO=melodic - - ROS_DISTRO=noetic -install: - - git clone --quiet --depth 1 https://github.com/ros-industrial/industrial_ci.git .industrial_ci -b master -script: - - .industrial_ci/travis.sh diff --git a/README.md b/README.md index a174af9c1..fcc3a8828 100644 --- a/README.md +++ b/README.md @@ -1,25 +1,6 @@ cob_common =========== -## ROS Distro Support +## GitHub Actions - Continuous Integration -| | Indigo | Jade | Kinetic | Melodic | -|:-------:|:------:|:----:|:-------:|:-------:| -| Branch | [`indigo_dev`](https://github.com/ipa320/cob_common/tree/indigo_dev) | [`indigo_dev`](https://github.com/ipa320/cob_common/tree/indigo_dev) | [`kinetic_dev`](https://github.com/ipa320/cob_common/tree/kinetic_dev) | [`kinetic_dev`](https://github.com/ipa320/cob_common/tree/kinetic_dev) | -| Status | supported | not supported | supported | supported | -| Version | [version](http://repositories.ros.org/status_page/ros_indigo_default.html?q=cob_common) | [version](http://repositories.ros.org/status_page/ros_jade_default.html?q=cob_common) | [version](http://repositories.ros.org/status_page/ros_kinetic_default.html?q=cob_common) | [version](http://repositories.ros.org/status_page/ros_melodic_default.html?q=cob_common) | - -## Travis - Continuous Integration - -Status: [![Build Status](https://travis-ci.com/ipa320/cob_common.svg?branch=kinetic_dev)](https://travis-ci.com/ipa320/cob_common) - -## ROS Buildfarm - -| | Indigo Source | Indigo Debian | Jade Source | Jade Debian | Kinetic Source | Kinetic Debian | Melodic Source | Melodic Debian | -|:-------:|:-------------:|:-------------:|:-----------:|:-----------:|:--------------:|:--------------:|:--------------:|:--------------:| -| cob_common | [![not released](http://build.ros.org/buildStatus/icon?job=Isrc_uT__cob_common__ubuntu_trusty__source)](http://build.ros.org/view/Isrc_uT/job/Isrc_uT__cob_common__ubuntu_trusty__source/) | [![not released](http://build.ros.org/buildStatus/icon?job=Ibin_uT64__cob_common__ubuntu_trusty_amd64__binary)](http://build.ros.org/view/Ibin_uT64/job/Ibin_uT64__cob_common__ubuntu_trusty_amd64__binary/) | [![not released](http://build.ros.org/buildStatus/icon?job=Jsrc_uT__cob_common__ubuntu_trusty__source)](http://build.ros.org/view/Jsrc_uT/job/Jsrc_uT__cob_common__ubuntu_trusty__source/) | [![not released](http://build.ros.org/buildStatus/icon?job=Jbin_uT64__cob_common__ubuntu_trusty_amd64__binary)](http://build.ros.org/view/Jbin_uT64/job/Jbin_uT64__cob_common__ubuntu_trusty_amd64__binary/) | [![not released](http://build.ros.org/buildStatus/icon?job=Ksrc_uX__cob_common__ubuntu_xenial__source)](http://build.ros.org/view/Ksrc_uX/job/Ksrc_uX__cob_common__ubuntu_xenial__source/) | [![not released](http://build.ros.org/buildStatus/icon?job=Mbin_uB64__cob_common__ubuntu_xenial_amd64__binary)](http://build.ros.org/view/Mbin_uB64/job/Mbin_uB64__cob_common__ubuntu_xenial_amd64__binary/) | [![not released](http://build.ros.org/buildStatus/icon?job=Msrc_uB__cob_common__ubuntu_bionic__source)](http://build.ros.org/view/Msrc_uB/job/Msrc_uB__cob_common__ubuntu_bionic__source/) | [![not released](http://build.ros.org/buildStatus/icon?job=Mbin_uB64__cob_common__ubuntu_bionic_amd64__binary)](http://build.ros.org/view/Mbin_uB64/job/Mbin_uB64__cob_common__ubuntu_bionic_amd64__binary/) | - - -This is a repository for Care-O-bot URDF macros and common message/service descriptions. - -Installation instructions and tutorials can be found at http://www.care-o-bot.org. +CI-Status ```noetic-devel```: [![GHA CI](https://github.com/4am-robotics/cob_common/actions/workflows/main.yml/badge.svg?branch=noetic-devel)](https://github.com/4am-robotics/cob_common/actions/workflows/main.yml?query=branch%3Anoetic-devel) diff --git a/all_changes.patch b/all_changes.patch new file mode 100644 index 000000000..af32416fd --- /dev/null +++ b/all_changes.patch @@ -0,0 +1,122 @@ +diff --git a/.ci.xacro_test.sh b/.ci.xacro_test.sh +index d53f97b..a80e8a6 100644 +--- a/.ci.xacro_test.sh ++++ b/.ci.xacro_test.sh +@@ -1,7 +1,13 @@ + #!/bin/sh + status=0 +-[ "$ROS_DISTRO" \< "melodic" ] && xacro_args='--inorder' +-for x in $(find "$TARGET_REPO_PATH" -name '*.xacro'|sort); do ++# Only set --inorder if running on older ROS 1 distros; for ROS 2 (Humble) we don't need it. ++if [ -n "$ROS_DISTRO" ] && { [ "$ROS_DISTRO" = "indigo" ] || [ "$ROS_DISTRO" = "jade" ] || [ "$ROS_DISTRO" = "kinetic" ]; }; then ++ xacro_args='--inorder' ++else ++ xacro_args='' ++fi ++ ++for x in $(find "$TARGET_REPO_PATH" -name '*.xacro' | sort); do + echo "Testing $x" + xacro $xacro_args "$x" > /dev/null || status=1 + done +diff --git a/cob_actions/package.xml b/cob_actions/package.xml +index 47261e4..be05704 100644 +--- a/cob_actions/package.xml ++++ b/cob_actions/package.xml +@@ -16,4 +16,5 @@ + action_msgs + + rosidl_default_runtime ++ rosidl_interface_packages + +diff --git a/cob_common/CMakeLists.txt b/cob_common/CMakeLists.txt +index edffff6..402eafb 100644 +--- a/cob_common/CMakeLists.txt ++++ b/cob_common/CMakeLists.txt +@@ -1,5 +1,7 @@ + cmake_minimum_required(VERSION 3.8) + project(cob_common) + ++# Make the ament_metapackage() command available. + find_package(ament_cmake REQUIRED) +-ament_metapackage() ++ ++ament_package() +diff --git a/cob_common/package.xml b/cob_common/package.xml +index 9999397..63bbd3c 100644 +--- a/cob_common/package.xml ++++ b/cob_common/package.xml +@@ -17,8 +17,6 @@ + cob_actions + cob_msgs + cob_srvs +- +- +- +- ++ rosidl_interface_packages ++ + +diff --git a/cob_msgs/msg/AccessPoint.msg b/cob_msgs/msg/AccessPoint.msg +index da7d9bd..84c5de9 100644 +--- a/cob_msgs/msg/AccessPoint.msg ++++ b/cob_msgs/msg/AccessPoint.msg +@@ -1,5 +1,5 @@ + # This message communicates the state of the PR2's wifi access point. +-Header header ++std_msgs/Header header + string essid + string macaddr + int32 signal +diff --git a/cob_msgs/msg/PowerState.msg b/cob_msgs/msg/PowerState.msg +index 47cf00d..d15d711 100644 +--- a/cob_msgs/msg/PowerState.msg ++++ b/cob_msgs/msg/PowerState.msg +@@ -1,5 +1,5 @@ + # This message communicates the state of the power system. +-Header header ++std_msgs/Header header + float64 voltage # [V] + float64 current # [A] + float64 power_consumption # [W] can only be calculated if not charging +diff --git a/cob_msgs/msg/SafetyControllerState.msg b/cob_msgs/msg/SafetyControllerState.msg +index 04a8e81..12b8d97 100644 +--- a/cob_msgs/msg/SafetyControllerState.msg ++++ b/cob_msgs/msg/SafetyControllerState.msg +@@ -1,4 +1,4 @@ +-Header header ++std_msgs/Header header + bool has_wireless_emstop + bool has_fall_sensors + bool has_magnetic_safety_switch +diff --git a/cob_msgs/msg/SiteSurvey.msg b/cob_msgs/msg/SiteSurvey.msg +index fadf87b..5d57c98 100644 +--- a/cob_msgs/msg/SiteSurvey.msg ++++ b/cob_msgs/msg/SiteSurvey.msg +@@ -1,2 +1,2 @@ +-Header header ++std_msgs/Header header + Network[] networks +diff --git a/cob_msgs/package.xml b/cob_msgs/package.xml +index 0575133..34a48cd 100644 +--- a/cob_msgs/package.xml ++++ b/cob_msgs/package.xml +@@ -19,4 +19,5 @@ + std_msgs + + rosidl_default_runtime ++ rosidl_interface_packages + +diff --git a/cob_srvs/package.xml b/cob_srvs/package.xml +index a51c8a3..24be9a6 100644 +--- a/cob_srvs/package.xml ++++ b/cob_srvs/package.xml +@@ -13,8 +13,7 @@ + + ament_cmake + rosidl_default_generators +- + geometry_msgs +- + rosidl_default_runtime ++ rosidl_interface_packages + diff --git a/cob_actions/CHANGELOG.rst b/cob_actions/CHANGELOG.rst index 1c68a9593..6544f91af 100644 --- a/cob_actions/CHANGELOG.rst +++ b/cob_actions/CHANGELOG.rst @@ -2,6 +2,24 @@ Changelog for package cob_actions ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.8.12 (2024-08-05) +------------------- + +0.8.11 (2024-04-30) +------------------- +* 0.7.11 +* update changelogs +* Contributors: fmessmer + +0.7.11 (2024-04-18) +------------------- + +0.7.10 (2024-02-20) +------------------- + +0.7.9 (2023-11-06) +------------------ + 0.7.8 (2022-07-29) ------------------ diff --git a/cob_actions/CMakeLists.txt b/cob_actions/CMakeLists.txt index 31d0d55c3..e80af62e4 100644 --- a/cob_actions/CMakeLists.txt +++ b/cob_actions/CMakeLists.txt @@ -1,20 +1,21 @@ -cmake_minimum_required(VERSION 3.0.2) +cmake_minimum_required(VERSION 3.8) project(cob_actions) -find_package(catkin REQUIRED COMPONENTS actionlib_msgs geometry_msgs message_generation) +# Find dependencies +find_package(ament_cmake REQUIRED) +find_package(rosidl_default_generators REQUIRED) +find_package(geometry_msgs REQUIRED) +find_package(action_msgs REQUIRED) # ROS 2 uses built-in action types -add_action_files(FILES - Dock.action - SetBool.action - SetFloat.action - SetInt.action - SetString.action +# Generate action interfaces. +# Make sure your action files are in the "action" directory. +rosidl_generate_interfaces(${PROJECT_NAME} + "action/Dock.action" + "action/SetBool.action" + "action/SetFloat.action" + "action/SetInt.action" + "action/SetString.action" + DEPENDENCIES geometry_msgs action_msgs ) -generate_messages( - DEPENDENCIES actionlib_msgs geometry_msgs -) - -catkin_package( - CATKIN_DEPENDS actionlib_msgs geometry_msgs message_runtime -) +ament_package() diff --git a/cob_actions/package.xml b/cob_actions/package.xml index a712d5f71..be0570427 100644 --- a/cob_actions/package.xml +++ b/cob_actions/package.xml @@ -1,21 +1,20 @@ - + + cob_actions - 0.7.8 - This Package contains Care-O-bot specific action definitions. - - Apache 2.0 - + 0.8.12 + This package contains Care-O-bot specific action definitions. + Apache-2.0 http://ros.org/wiki/cob_actions - - + Benjamin Maidel + Denis Lehmann Felix Messmer - Felix Messmer - catkin - - message_generation - message_runtime - actionlib_msgs + ament_cmake + rosidl_default_generators + geometry_msgs - + action_msgs + + rosidl_default_runtime + rosidl_interface_packages diff --git a/cob_common/CHANGELOG.rst b/cob_common/CHANGELOG.rst index 11b3f1a40..f68107f5a 100644 --- a/cob_common/CHANGELOG.rst +++ b/cob_common/CHANGELOG.rst @@ -2,6 +2,33 @@ Changelog for package cob_common ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.8.12 (2024-08-05) +------------------- + +0.8.11 (2024-04-30) +------------------- +* 0.7.11 +* update changelogs +* Merge pull request `#308 `_ from fmessmer/noetic-devel + [ROS1] cob4 eol cleanup +* remove cob_description +* remove raw_description +* Contributors: Felix Messmer, fmessmer + +0.7.11 (2024-04-18) +------------------- +* Merge pull request `#308 `_ from fmessmer/noetic-devel + [ROS1] cob4 eol cleanup +* remove cob_description +* remove raw_description +* Contributors: Felix Messmer, fmessmer + +0.7.10 (2024-02-20) +------------------- + +0.7.9 (2023-11-06) +------------------ + 0.7.8 (2022-07-29) ------------------ diff --git a/cob_common/CMakeLists.txt b/cob_common/CMakeLists.txt index c8af56536..402eafb7e 100644 --- a/cob_common/CMakeLists.txt +++ b/cob_common/CMakeLists.txt @@ -1,4 +1,7 @@ -cmake_minimum_required(VERSION 3.0.2) +cmake_minimum_required(VERSION 3.8) project(cob_common) -find_package(catkin REQUIRED) -catkin_metapackage() + +# Make the ament_metapackage() command available. +find_package(ament_cmake REQUIRED) + +ament_package() diff --git a/cob_common/package.xml b/cob_common/package.xml index e50651924..63bbd3c13 100644 --- a/cob_common/package.xml +++ b/cob_common/package.xml @@ -1,23 +1,22 @@ - + + cob_common - 0.7.8 - The cob_common stack hosts common packages that are used within the Care-O-bot repository. E.g. utility packages or common message and service definitions etc. Also the urdf desciption of the robot is located in this stack. - Apache 2.0 - + 0.8.12 + + The cob_common stack hosts common packages used within the Care-O-bot repository, such as utility packages or common message and service definitions. + + Apache-2.0 http://ros.org/wiki/cob_common - - + Benjamin Maidel + Denis Lehmann Felix Messmer - - catkin - + + ament_cmake + + cob_actions - cob_description cob_msgs cob_srvs - raw_description + rosidl_interface_packages - - - diff --git a/cob_description/CHANGELOG.rst b/cob_description/CHANGELOG.rst deleted file mode 100644 index 3eef55af2..000000000 --- a/cob_description/CHANGELOG.rst +++ /dev/null @@ -1,807 +0,0 @@ -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Changelog for package cob_description -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ - -0.7.8 (2022-07-29) ------------------- - -0.7.7 (2021-12-23) ------------------- -* Merge pull request `#295 `_ from ipa-fog/fix/kinect_frame_id - adjusted frames of kinect topics to tf-tree -* adjusted frames of kinect topics to tf-tree -* Merge pull request `#294 `_ from fmessmer/unique_control_plugin - guarantee unique plugin name for hwi_switch_gazebo_ros_control -* add plugins for mimic joints -* guarantee unique plugin name for hwi_switch_gazebo_ros_control -* Contributors: Felix Messmer, fmessmer, fog - -0.7.6 (2021-08-02) ------------------- - -0.7.5 (2021-07-01) ------------------- - -0.7.4 (2020-11-20) ------------------- - -0.7.3 (2020-09-26) ------------------- -* Merge pull request `#288 `_ from fmessmer/test_noetic - test noetic -* Bump CMake version to avoid CMP0048 warning -* Merge pull request `#287 `_ from fmessmer/fix/include_common_xacro - add missing common xacro includes -* more missing common.xacro for intertial macros -* missing common.xacro for default intertia -* Merge pull request `#279 `_ from fmessmer/fix_xacro_test - [travis] xacro test -* add ROS_DISTRO condition for --inorder -* Merge pull request `#284 `_ from fmessmer/left_right_heads - support various available head variants -* correct property values for head_cad version -* prepare structure -* use property_blocks for joint origins -* Contributors: Felix Messmer, fmessmer, ipa-mjp - -0.7.2 (2020-03-18) ------------------- -* Merge pull request `#282 `_ from fmessmer/torso_no_body - allow torso without full body -* allow torso without full body -* Merge pull request `#278 `_ from LoyVanBeek/feature/python3_compatibility - [ci_updates] pylint + Python3 compatibility -* python3 compatibility via 2to3 -* Merge pull request `#281 `_ from ipa-jba/feature/raw-mini - Feature/raw mini -* nitpick -* add rplidar for gazebo -* Added files for raw-mini -* Merge pull request `#277 `_ from fmessmer/ci_updates - [travis] ci updates -* catkin_lint fixes -* Contributors: Felix Messmer, Jannik Abbenseth, Loy van Beek, flg-vs, fmessmer - -0.7.1 (2019-11-07) ------------------- -* Merge pull request `#274 `_ from LoyVanBeek/feature/usb-cam-model - Put in true dimensions of usb-camera according to datasheet -* Put in true dimensions of usb-camera according to datasheet -* Merge pull request `#272 `_ from fmessmer/copy_pg70_description - copy schunk_pg70 -* fix simulated camera_info topic name of d435 -* fake inertia for pg70 -* copy schunk_pg70 -* Contributors: Felix Messmer, Florian Weisshardt, Loy van Beek, fmessmer - -0.7.0 (2019-08-06) ------------------- -* Merge pull request `#271 `_ from benmaidel/feature/melodify - [Melodic] -* fix default value -* more hardware_interface prefixing -* fixed xacro:if condition for melodic -* added hardware_interface prefix for transmission (melodic's cob_gazebo_ros_control plugin expects it) -* Contributors: Benjamin Maidel, Felix Messmer, fmessmer - -0.6.12 (2019-05-20) -------------------- -* Merge pull request `#269 `_ from fmessmer/fixed_link_helper_macro - add helper macro for fixed links -* add helper macro for fixed links -* Contributors: Felix Messmer, fmessmer - -0.6.11 (2019-04-05) -------------------- -* Merge pull request `#266 `_ from fmessmer/steer_joint_max_vel - reduce steer joint max vel -* reduce steer joint max vel -* Contributors: Felix Messmer, fmessmer - -0.6.10 (2019-03-14) -------------------- -* Merge pull request `#258 `_ from fmessmer/tricycle_backwards - allow drive backwards with tricycle -* allow drive backwards with tricycle -* Merge pull request `#257 `_ from fmessmer/introduce_pivot_link - add base_pivot_link for tricycle mode -* proper tf hierarchy for base_pivot_link -* add base_pivot_link for tricycle mode -* Contributors: Felix Messmer, fmessmer - -0.6.9 (2018-07-21) ------------------- -* update maintainer -* Merge pull request `#254 `_ from fmessmer/add_realsense_d435 - add urdf for realsense_d435 -* add urdf for realsense_d435 -* Merge pull request `#253 `_ from fmessmer/fix_fisheye - properly simulate fisheye camera -* properly simulate fisheye camera -* Merge pull request `#245 `_ from floweisshardt/rotate_base_link - rotate base link -* add base_charger_link -* cleanup and rename links -* Merge pull request `#252 `_ from ipa-bnm/fix/wheel_radius - fixed wheel radius -* fixed wheel radius -* Merge pull request `#249 `_ from ipa-fxm/position_interface_base_rotation_joints - add PositionJointInterface for fdm rotation joints -* add PositionJointInterface for fdm rotation joints -* added parameter for drive direction -* rotate base link (close to working), docking missing -* Contributors: Benjamin Maidel, Felix Messmer, cob4-13, eva-bonn, fmessmer, ipa-bnm, ipa-fxm - -0.6.8 (2018-01-07) ------------------- -* Merge pull request `#246 `_ from ipa320/indigo_release_candidate - Indigo release candidate -* Merge pull request `#244 `_ from ipa-fxm/fix_depth_registered - adjust topic to real hardware -* adjust topic to real hardware -* Merge pull request `#243 `_ from ipa-fxm/fix/test_urdf_travis - fix test_urdf for travis -* fix test_urdf for travis -* Merge pull request `#240 `_ from mgruhler/fix/test_urdf - cob_common: fix test_urdf.py -* cob_common: fix test_urdf.py - * fix check of return value from subprocess call - * use 'rosrun xacro xacro' instead of 'rospack find xacro'/xacro as this does not work in kinetic anymore - * clearer error output -* Merge pull request `#237 `_ from ipa-fxm/fix/s300-max-range - sick_s300: adjust range_max -* sick_s300: adjust range_max -* Merge pull request `#235 `_ from ipa-fxm/cob4_tricycle - cob4 tricycle -* allow tricycle_mode -* Merge pull request `#236 `_ from ipa-fxm/remove_use_old_joint_name - remove obsolete argument use_old_joint_names -* remove obsolete argument use_old_joint_names -* Merge pull request `#233 `_ from ipa-fxm/fix_asus_coord_frames - fix camera coord frames for all cameras for hw and sim -* adjust sick_3dcs according to hardware driver specs -* tweak inertia -* Update usb_cam.gazebo.xacro -* fix frames of sick_3dcs -* fix frames of usb_cam -* fix image color format -* fix coordinate frames for asus camera -* Merge pull request `#230 `_ from ipa-fxm/update_maintainer - update maintainer -* add missing include -* update maintainer -* Merge pull request `#224 `_ from ipa-fxm/APACHE_license - use license apache 2.0 -* Merge pull request `#227 `_ from ipa-fxm/copy_cob4_arm - copy cob4_arm description -* copy cob4_arm description -* Merge pull request `#226 `_ from ipa-fxm/zr300_unique_macro_names - unique macro name for zr300 -* unique macro name for zr300 -* Merge pull request `#225 `_ from ipa-fmw/feature/zr300 - add zr300 cameras -* add zr300 urdfs -* use license apache 2.0 -* Contributors: Benjamin Maidel, Felix Messmer, Florian Weisshardt, Matthias Gruhler, Richard Bormann, ipa-fmw, ipa-fxm, ipa-uhr-mk - -0.6.7 (2017-07-17) ------------------- -* use asus xtion default values -* usb_cam default values -* use realsense default values -* separate laser scanner from base -* remove static tf frames -* raise effort limit. fixes https://github.com/ipa320/cob_robots/issues/641 -* change back mean value of noise (caused troubles for close by obstacles) -* set proper velocity limits for cob4 drive_wheel -* adjusted laserscan-sensors in simulation -* proper conditions -* move gazebo_ros_control plugin -* use xacro --inorder -* fix collision mesh for cob4 torso -* remove obsolete components due to unsupported robots -* Merge pull request `#200 `_ from ipa-fxm/latest_xacro_syntax - use latest xacro syntax -* allow static sensorring -* fix syntax error -* use latest xacro syntax -* manually fix changelog -* unify torso xacros, use default transmission macro -* move sensors from torso xacro to robot xacro -* remove unused torso_3dof -* use default transmission macro -* unify sensorring xacros -* move sensors from sensorring xacro to robot xacro -* remove unused sensorring_3dcs -* unify head xacros -* introduce default transmission -* move sensors from head xacro to robot xacro -* removed softkinetic description -* updated resolution for usb camera -* updated resolution for usb camera -* renamed xacro and files(head_cam -> usb_cam) -* check camera resolution -* added head_cam frame to urdf -* Contributors: Felix Messmer, Florian Weisshardt, Mathias Lüdtke, fmw-hb, ipa-fxm, ipa-nhg - -0.6.6 (2016-10-10) ------------------- -* review velocity axis limit -* new torso and sensorring configurations -* the realsense publishes already the frames, it is a bug -* added realsense torso description -* realsense camera description -* adapt head urdf to hardware kinematics -* check head urdf model -* Update softkinetic.urdf.xacro -* updated softkinetic urdf -* add geometry macros with meshes -* Contributors: Nadia Hammoudeh García, fmw-hb, ipa-cob4-2, ipa-cob4-5, ipa-fxm, ipa-fxm-cm, ipa-nhg - -0.6.5 (2016-04-01) ------------------- -* fix cob3_tray_3dof meshes -* harmonize simulated cam3d topic namespaces -* restructure simulated lasers and laser topic names -* remove obsolete sensors -* Missed $ key -* added asus sensorring description -* Updated topic name -* added sick sensorring description -* fix joint origins for torsos -* Merge branch 'indigo_dev' into fix_torso_urdf -* fix torso joint orientation in urdf -* Contributors: Nadia Hammoudeh García, ipa-fxm, ipa-nhg - -0.6.4 (2015-08-29) ------------------- -* remove obsolete autogenerated mainpage.dox files -* add explicit exec_depend to xacro -* fix catkin_minimum_required version -* remove trailing whitespaces -* migrate to package format 2 -* sort dependencies -* critically review dependencies -* Contributors: ipa-fxm - -0.6.3 (2015-06-17) ------------------- -* missing dependency for urdf checks -* remove unsupported calibration_rising -* separate xacro macro for drive_wheel module used in all bases + significant simplification -* use extended collision model for torso -* add grasp link to sdhx and fix finger orientation -* fix type error -* renamed 'dof' urdfs -* add temporary fix urdf argument for cob4_base joint_names -* recalculated head joint positions -* collada meshes for cob4_gripper -* add new parameter with default value -* allow cob3 components to be used with PositionJointInterface -* renamed joints -* Corrects the suffixes for the basis -* redefined meshes origin -* addapted urdf to the real gripper positions -* proper meshes for cob4_gripper -* Limits now come from the yaml files -* correct collision checking for cob4 components -* Openni needs that topic and link name are the same -* missed joint -* Contributors: Florian Weisshardt, ipa-cob3-9, ipa-cob4-2, ipa-cob4-6, ipa-fxm, ipa-nhg, thiagodefreitas - -0.6.2 (2014-12-15) ------------------- -* fix syntax -* added velocity and position controllers -* more output for urdf test -* static versions for torso and head -* set limit for sensorring -* prepare cob4 component descriptions for new structure -* new reduced stl collision meshes -* use VelocityJointInterface hardware interfaces for simulation of all bases -* Contributors: Florian Weisshardt, ipa-cob4-2, ipa-fmw, ipa-fxm, ipa-nhg - -0.6.1 (2014-09-24) ------------------- -* fix mesh due to assimp error -* fix bumper plugins -* fixed center of gravity and inertia formulas -* Contributors: ipa-fxm, ipa-fxm-fm - -0.6.0 (2014-09-16) ------------------- -* new sick_s300 collision model -* gazebo needs a new link for the topic, if we use the origin of the scanner (the center), the topic detects only the collision model -* Deleting s300 stl mesh because the dae file is used -* make lookat arbitrarily fast -* use VelocityJointInterface for cob4_torso -* new collision mesh -* merge with 320 -* make lookat arbitrarily fast -* use VelocityJointInterface for cob4_torso -* Contributors: Florian Weisshardt, ipa-fxm, ipa-nhg - -0.5.5 (2014-08-27) ------------------- - -0.5.4 (2014-08-25) ------------------- -* update changelog -* consistency changes due to latest gazebo tag format -* unify materials -* consitency changes due to new transmission format -* unify materials -* include gazebo_ros dependendy to export materials -* merge with hydro_dev -* cleanup dependencies -* new collision mesh -* beautify indentation + cleaning up -* beautify indentation -* merge with hydro_dev -* for cob3 the topic name should be /cam3d.. -* adapt to latest changes in official ros-industrial repo -* Coloured mesh files -* use base mesh with less vertices for collision checking -* use correct mesh for collision geometry -* re-export meshes from meshlab to fix assimp error message -* better approximation of inertias for some more cob4 components -* fixed center of masses -* use default damping -* correct inertias for cob4 torso -* enable gravity -* rotate scanner -* temporary commit for torso inertias -* merged with ipa320/hydro_dev -* removed bumpers and changed transmission config to new syntax -* update gazebo tags for sensor plugins -* no inertia in base_footprint -* deleted unnecessary head versions -* update gazebo tags for sensor plugins -* wrong topic names -* un-hardcodize ur-macro -* beautify mesh files -* Merge pull request `#95 `_ from ipa320/hydro_release_candidate - bring back changes from Hydro release candidate -* New head_center_link -* New maintainer -* update cob4_base stl file -* remove material physic properties of wheels to use default, fixes `#90 `_ -* deleted offset -* Merge error -* merge -* New stl files for cob4 -* fix xacro:include tag -* New center joint on torso -* New center joint on torso -* fix softkinetic settings -* fix urdf test -* merge cob4 -* Contributors: Alexander Bubeck, Felix Messmer, Florian Weisshardt, Nadia Hammoudeh García, fmw, ipa-cob3-8, ipa-cob4-1, ipa-fxm, ipa-fxm-fm, ipa-nhg - -0.5.3 (2014-03-31) ------------------- -* reminder comment ;-) -* ee_link is now back in ur_description -* Contributors: ipa-fxm - -0.5.2 (2014-03-20) ------------------- -* merged with ipa320 -* removed Media folder -* merge with groovy_dev -* fix kinect topics for simulation -* fixes while testing in simulation -* update xacro file format -* merge with groovy_dev -* new structure -* fixed some includes and property definitions -* some missed changes -* merge with groovy_dev_cob4 -* fixed gazebo_plugins -* added arm_ee_link -* fixed path to file -* fixed path to file -* renamed tray 3DOF -* Tested on simulation -* cob_description structuration -* cleanup -* update cob4 description -* renamed files -* New struture for cob repositories -* tested on robot -* cob4 integration -* cob4 integration -* bring groovy updates to hydro -* Adapt tray position -* Fixed tray powerball -* Adjust limits for tray and torso -* modify axis on mesh model -* some helper makros for default inertia -* optimize effort and joint limits + use visual mesh as collision for upper neck to give arem some more space -* visual and collision geometry of cameras are now not colliding with head_cover anymore -* update transmission for all components -* remove obsolete files -* use default settings -* update xmlns + beautifying -* fix xacro include tag deprecation -* Merge pull request `#7 `_ from ipa-fxm/groovy_dev - bring groovy updates to hydro -* remove obsolete experimental files -* make lookat work with raw -* ur_connector meshes are now assimp conform -* fixed torso joint limits -* adjust limits for ur_connector -* latest changes in lookat component -* simplified lookat component -* new urdf description for lookat -* fixing simulation for hydro. Still wip -* unified torso frames -* unified head frames -* Revert "depth joint for kinect implemented" - This reverts commit f3449462cd05a5efc8f47252e28366d6a495acb2. -* offset back in lbr.urdf.xacro else wrong calibration -* fixed typo -* Removed safety controller urdf/ur_connector/ur_connector.urdf.xacro -* Renamed ur_connector -* New model descriptions for cob3-7 -* offset for lbr set to 0 -* Solved xacro Warning in hydro. -* Fixed type error -* changes for hydro gazebo, still not fully working -* depth joint for kinect implemented -* new component base_placement for whole body moveit group -* added fixed links for calibration -* new urdf description for lookat -* Contributors: Alexander Bubeck, Denis Štogl, Jannik, Jannik Abbenseth, abubeck, ipa-cob3-5, ipa-cob3-7, ipa-fmw, ipa-fxm, ipa-nhg - -0.5.1 (2013-08-16 01:14:35 -0700) ---------------------------------- - -0.5.0 (2013-08-16 01:14:35 -0700) ---------------------------------- -* added installer stuff -* fixed bug after merging -* merged with upstream changes -* removed generation of mesh files -* changed target name to be specific -* Merge pull request `#41 `_ from ipa-fxm/mesh_gen_fix - remove mesh file generation from description packages - they are not nee... -* cleanup deps -* cleanup deps -* name failed test files for urdf check -* adapt urdf_check for groovy -* fix kinect FoV -* set update rate to 20hz again -* Catkin for cob_common -* remove mesh file generation from description packages - they are not needed any longer -* fix meshes and transformation for tray_powerball -* changed field of view of RGB image to be more realistic (from 57 to 62) -* moved all hardcoded offsets to calibration_data -* merge -* added colored collada model for sick s300 scanner -* use collision mesh again -* clean up gazebo files -* major adaptions in gazebo.urdf.xacros according to new gazebo format for sensors - simulated sensor data still not fully correct -* major adaptions in gazebo.urdf.xacros according to new gazebo format for sensors -* major adaptions in gazebo.urdf.xacros according to new gazebo format for controllers -* Merge pull request `#34 `_ from ipa-fmw/master - extend urdf test -* extended urdf test -* added ur10 in raw3-1 description -* Redefined collisions in urdf files -* Groovy migration -* Merge branch 'master' of github.com:ipa320/cob_common -* adjust color settings -* rename topic from scan_top to scan_top_raw -* merge -* Deleted texture colors -* Renamed colors -* adjusted params for prosilica -* Merge pull request `#23 `_ from ipa-goa/master - changed far clip to 100 -* changed far clip to 100 -* extended head cover and upper neck meshes -* increased torso_v0 limits for the initialization of cob3-1 -* fix colors and powerball tray -* Renamed the colors -* Redefined Care-O-bot colors for Gazebo and Rviz -* Orange color for LBR -* Defined new colors -* Updated phiget sensors position -* Updated joints axis -* Removed stlb as collision mesh files, fuerte does not support this format -* Minor changes in tray_powerball description -* Description for tray_powerball -* Fuerte migration cob_descriptionurdf/base/base.gazebo.xacro -* removed unused reference position for lbr -* final raw-model V2 -* update urdf -* Revert "replaced solid with robot in stl" - This reverts commit 5a415bb7dc12831d2ed8932aa46b8cdcb044d300. -* fixed stl -* use stl -* replaced solid with robot in stl -* undo previous changes in cob_description/urdf/base/base.gazebo.xacro -* add simulated phidgets sensors to tray -* changed stl files not using solid -* Update desire_description -* fix naming for both kinect plugins -* fixed field of view for kinect -* Merge pull request `#12 `_ from abubeck/master - fuerte support, compatible with electric -* Merge https://github.com/abubeck/cob_common -* Merge branch 'master' of github.com:abubeck/cob_common -* Merge branch 'electric' of github.com:ipa320/cob_common into release_electric -* changed kinect configuration for fuerte, changed stlb links to stl -* increased upper joint limit and velocity for head_v1 -* fixed cam3d topic for head_v1 -* finished raw3-1 model --- V1 -* limit torso pan and tilt joints -* moved sick_s300 stl to cob_description -* added stl for laser scanner -* substitute 1.57 3.14 6.28 through M_PI -* additional links on tray -* read correct torso stl -* urdf structure change: tray can be calibrated now -* using calibration for laser scanners -* renamed icob to raw and merged and cleaned up lots of things -* Deleted old files and copies -* fix icob urdf -* torso urdf change: made torso middle link longer (as in cad) -* cameras have zero pos/rot offsets in head_v3 -* calibrate cam3d to head axis instead of left camera -* setup cob3-4 -* don't include urdf files from ros directory -* python urdf test -* merge with ipa320 -* added minimum range for kinect -* .. -* add dep -* Merge branch 'master' of github.com:ipa-fmw/cob_common into review-ipa-fmw -* fix collision problem with floor: lift collision base_footprint -* fix names in base urdf -* renamed components -* renamed folders -* moved out of ros dir -* moved out of ros dir -* removed schunk components -* removed calibration for now missing calibration link -* fixed bug with xyz values -* removed calib_joint -* merged with goa -* revert urdf changes because of arm planning collisions -* new calibration for cob3-3 and cob3-4 -* temporary fix for urdf collision model -* add configs for cob3-4 -* beautify sdh transmissions -* adjust cob3-3 torso calibration -* using now kinect plugin from pr2_gazebo -* fixed origin offset -* Merge branch 'master' of github.com:ipa-goa-wt/cob_common into review-goa-wt -* urdf and default configs for cob3-bosch -* added rgb description for kinect -* added sdh_tip link -* new torso calibration -* merge -* Updated calibration for Kinect sensor -* merge -* added comment -* bumpers measure in the coordinate system of the fingers -* Kinect rgb configuration -* Merge branch 'master' of github.com:ipa-goa/cob_common -* neck calib -* added helper coordinate system for calibration, added calibration values -* Merge branch 'master' of github.com:ipa-fmw/cob_common -* new calibration offset for tray -* Updated camera calibration for cob3-3 -* commit from icob -* added urdf for standard schunk lwa3 -* merge -* fix head_v3 simulation error -* modifications for fetch and carry -* Merge branch 'master' of github.com:ipa-rmb/cob_common into review-rmb -* update cob3-3 -* Merge branch 'master' of github.com:ipa-fmw/cob_common into review-fmw -* fix head orientation for cob3-3 -* fix head orientation for cob3-3 -* merge -* Merge branch 'master' of github.com:ipa-fmw/cob_common into review-fmw -* fix cob3-3 tf -* calibration for cob3-1 -* new arm configurations for faster table manipulation -* head urdf for cob3-1 -* changes from b-it-bots -* calib test -* calib test -* Merge branch 'master' of github.com:ipa-taj/cob_common -* corrected calib values -* added calib values for cam to neck -* merge -* Left tp right camera change in urdf -* cob_head_axis set -* corrected the swissranger topics to the unified naming scheme -* cleanup cob3-2 description -* calibration for cob3-3 tray -* fix urdf of cob3-3 -* merge -* left camea is now reference camera -* merge -* merge -* update for cob3-3 -* Merge branch 'master' of github.com:ipa-fmw/cob_common -* alltest launch file -* torso_v1 added -* update torso for cob3-3 -* mimic joint for sdh -* update head description with general tof -* small modification for dashboard -* Fix CRLF -* kinect sensor added -* kinect sensor added -* fix names for multiple tof sensors -* changes in tof.gazebo.xacro -* inserted new urdf files for cob3-3, need to be adapted -* merge -* changed base configuration for cob3-2 -* fixed voxelization + now including sdh -* new files for prmce voxelization -* urdf model for voxelization -* merge with ipa320 -* update cob3-2 arm -* changed the platform urdf to version 1 -* arm planning -* beautifying -* single arm and arm with sdh simulation running -* modifications sensor fusion -* Merge branch 'master' of github.com:ipa-jsf/cob_common into review-jsf -* adjust camrea simulation parameters to real cameras -* renamed cameraone to prosilica -* fixed camera topics for simulation -* reduced mass for simulation -* tuned gazebo controller -* fix safety controller in lbr -* simulation working again after merging -* use stlb files in collision now -* generate stlb files -* included calls to base_v1, but still base_v0 is active -* fixed laser sensor names, version number and visual model -* modified base_collision_model -* Merge branch 'review-320' -* removed falling calibration -* Merge branch 'review-brudder' -* Merge branch 'master' of https://github.com/brudder/cob_common into review-brudder -* fixed error in lbr -* Merge branch 'review-brudder' -* Merge branch 'review-320' -* Merge branch 'master' of https://github.com/ipa320/cob_common into review-320 -* added correct calibration -* Merge branch 'master' of github.com:ipa-goa/cob_common into review-goa -* modified base collision model for 2dnav_ipa -* new stl models for collision added and implemented -* update configurations and added grassp link to sdh -* Merge branch 'master' of https://github.com/ipa320/cob_common into review-320 -* corrected axes and wheel hubs -* desire robot added -* restructure urdf files and launch files for simulation -* changed urdf files for single components -* changed launch file structure for bringup -* added safety_controller for pr2_kinematics -* simple base collision model -* added swissranger in simulation -* corrected calibration -* cleanup in simulation and common -* added hand-eye-calibration values -* Merge branch 'master' of github.com:ipa-goa/care-o-bot -* added camera calibration -* Head axis working, tested on cob3-1 but adapted parameters (-files) should work on both robots -* added sick scanner to urdf -* added real scan values to simulation, added scan filters to simulation -* changed mesh files for new transformations -* added hokuyo support to nav -* Merge branch 'review-320' -* added calibration for right camera -* HeadAxis working -* new torso tranfsormation -* update joint limits for lbr -* cob_base -* moved ekf domo publisher to nav; update positions for new urdf trafos; moved controller_manager to cob_controller_configuration_gazebo -* fix for global frame names -* lbr working on cob -* cob_head_axis working -* inserted cob base mesh file -* first version of cob_base urdf -* new trnasformation for base lbr -* new arm transformation for lbr, set_operation_mode with service interface -* tactile sensors in simulation -* cleanup in urdfs -* beautify torso urdf -* changed dimensions of cameras -* preparation for blocklaser -* simulated cameras working -* head axis working in simulation -* removed executable status from files -* preparations for cameras and tof in simulation -* grasp script optimisations -* update urdf to be compatible with ctrutle, add 64bit support for libntcan -* changed transmission and filters to namespaces -* update documentation -* optimized controllers for simulation -* changed angle offset after calibration -* fixed bug with fixed joint -* fixed bug with fixed joint -* changed transformation based on box-style-calibration -* modified urdf and adapted xaml files -* improved simulation for schunk arm and cleanup in 2dnav package -* altered sdh mounting for changed lbr naming -* fixed problem with lbr urdf files occuring on cob3-lbr robot -* update on robot -* grasp from cooler scenarion running -* update for cob3-2 -* update script server yaml and lbr urdf description -* dual arm cob3 simulation and modified controllers for schunk simulation -* extended calibration files for camera calibration -* Merge branch 'master' of github.com:abubeck/care-o-bot -* dual arm setup -* modified camera coordinate systems -* added virtual camera support -* updated lbr description, is now correct -* improvements of lbr simulation -* added lbr to simulation -* lbr meshes and simulation -* renamed laser topics -* modified urdf to work with hokuyo simulation -* modified urdf and changes to sdh driver -* changed from cob3-1 to cob3-sim -* small fixes for simulation -* updated simulation files -* clean up in cob_common stack -* added upload file for cob3-1 -* changes on powercube chain to accept direct command without actionlib -* missing files for simulation -* new files for navigation, e.g. maps and launch files -* merge -* arm is now on foot block -* arm is now on foot block -* extended limits of joint 1 -* rotated arm meshes and tray mesh -* calibration file for sim -* urdf file for cob3-sim -* missing upload file -* new simulation interfaces -* small fix -* separate urdf files for arm and sdh -* separate urdf files for arm and sdh -* missing stl files -* upload files for simulation -* merge -* merge -* big changes to simulation structure -* changed stl files -* modified knoeppkes -* new stl file for tray -* adaptions to urdf for tray -* new stl file for tray -* changed origin of head_cover -* new launch file for cob3-sim -* added sdh controller file -* Merge branch 'fmw-hj' -* modified urdf to have less shaking -* renamed cob launch file -* modified urdf -* inserted new stl files -* new stl file for head cover -* new stl files for torso -* added sdh urdf files -* included calibration files -* modified manifests for documentation -* mesh files for lwa -* included arm -* stl files for base -* missing SR400 files -* missing camera files -* new files for cob_description -* merge -* new urdf desciption -* modifications for cob3-2 -* new urdf structure for platform and torso -* Contributors: Alexander Bubeck, COB3-Manipulation, Florian Weißhardt, Georg Arbeiter, Lucian Cucu, Mathias Lüdtke, Richard Bormann, Sven Schneider, abubeck, b-it-bots-secure, brudder, cob, cob3-1-pc1, cpc-pk, fmw-jk, ipa, ipa-bnm, ipa-fmw, ipa-fmw-sh, ipa-fxm, ipa-goa, ipa-goa-wt, ipa-jsf, ipa-mig, ipa-nhg, ipa-rmb, ipa-taj, ipa-taj-dm, ipa-uhr, ipa-uhr-fm, mxcreator, nhg-ipa, robot, root diff --git a/cob_description/CMakeLists.txt b/cob_description/CMakeLists.txt deleted file mode 100644 index 20941049a..000000000 --- a/cob_description/CMakeLists.txt +++ /dev/null @@ -1,14 +0,0 @@ -cmake_minimum_required(VERSION 3.0.2) -project(cob_description) - -find_package(catkin REQUIRED COMPONENTS) - -catkin_package() - -install(DIRECTORY Media meshes urdf - DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} -) - -catkin_install_python(PROGRAMS test/test_urdf.py - DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} -) diff --git a/cob_description/Media/materials/scripts/ipa.material b/cob_description/Media/materials/scripts/ipa.material deleted file mode 100644 index 883f28083..000000000 --- a/cob_description/Media/materials/scripts/ipa.material +++ /dev/null @@ -1,98 +0,0 @@ -material IPA/LightGrey -{ - receive_shadows on - - technique - { - pass - { - ambient 0.7 0.7 0.7 1 - diffuse 0.1 0.1 0.1 1 - } - } -} - -material IPA/DarkGrey -{ - receive_shadows on - - technique - { - pass - { - ambient 0.4 0.4 0.4 1 - diffuse 0.1 0.1 0.1 1 - } - } -} - -material IPA/Black -{ - technique - { - pass - { - ambient 0.0 0.0 0.0 1.0 - diffuse 0.1 0.1 0.1 1 - } - } -} - -material IPA/Metal -{ - receive_shadows on - - technique - { - pass - { - lighting on - ambient 0.7 0.7 0.7 1 - diffuse 0.7 0.7 0.7 1 - specular 0.9 0.9 0.9 1 - } - } -} - - -material IPA/YellowRubber -{ - receive_shadows on - - technique - { - pass - { - lighting on - ambient 0.4 0.27 0.16 1 - diffuse 0.4 0.27 0.16 1 - specular 0.67 0.41 0.14 1 - } - } -} - -material IPA/Orange -{ - technique - { - pass - { - ambient 1.0 0.4 0.0 0 - diffuse 0.1 0.1 0.1 1 - } - } -} - -material IPA/Blue -{ - receive_shadows on - - technique - { - pass - { - ambient 0.0 0.0 0.5 1 - diffuse 0.1 0.1 0.1 1 - } - } -} diff --git a/cob_description/meshes/cob4_arm/arm_1_collision.stl b/cob_description/meshes/cob4_arm/arm_1_collision.stl deleted file mode 100644 index 65ff6310d..000000000 Binary files a/cob_description/meshes/cob4_arm/arm_1_collision.stl and /dev/null differ diff --git a/cob_description/meshes/cob4_arm/arm_1_link.dae b/cob_description/meshes/cob4_arm/arm_1_link.dae deleted file mode 100644 index 295f41ade..000000000 --- a/cob_description/meshes/cob4_arm/arm_1_link.dae +++ /dev/null @@ -1,107 +0,0 @@ - - - - - Blender User - Blender 2.68.0 r58536 - - 2014-08-18T17:58:49 - 2014-08-18T17:58:49 - - Z_UP - - - - - - - - - 0 0 0 1 - - - 0 0 0 1 - - - 0.64 0.64 0.64 1 - - - 0.025 0.025 0.025 1 - - - 1 - - - 1 - - - - - - 1 - - - - 1 - - - - - - - - - - - - 0.0333355 0.05694413 0.056032 0.0350874 0.05695265 0.05810844 0.03428214 0.05776667 0.05878096 0.02968776 0.05869853 0.05924683 0.02859407 0.05869853 0.05810976 0.02957576 0.05864757 0.05714976 0.02876764 0.05693703 0.0514881 0.02881795 0.05693709 0.05153512 0.0281133 0.05775851 0.0523411 0.0253793 0.05693984 0.04873049 0.02608114 0.05693894 0.04926407 0.02474778 0.05774849 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3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 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3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 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3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 -

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- - - 1 - - - - - - - 1 0 0 0 0 -1 1.27952e-6 0 0 -1.27952e-6 -1 0 0 0 0 1 - - - - - - - - - - - - - - - - \ No newline at end of file diff --git a/cob_description/meshes/sensors/sick_s300_laser_collision.stl b/cob_description/meshes/sensors/sick_s300_laser_collision.stl deleted file mode 100644 index 9fc579022..000000000 Binary files a/cob_description/meshes/sensors/sick_s300_laser_collision.stl and /dev/null differ diff --git a/cob_description/meshes/unit_box.stl b/cob_description/meshes/unit_box.stl deleted file mode 100644 index 14e774c2c..000000000 Binary files a/cob_description/meshes/unit_box.stl and /dev/null differ diff --git a/cob_description/meshes/unit_cylinder.stl b/cob_description/meshes/unit_cylinder.stl deleted file mode 100644 index 0dc126169..000000000 Binary files a/cob_description/meshes/unit_cylinder.stl and /dev/null differ diff --git a/cob_description/meshes/unit_sphere.stl b/cob_description/meshes/unit_sphere.stl deleted file mode 100644 index c80df882e..000000000 Binary files a/cob_description/meshes/unit_sphere.stl and /dev/null differ diff --git a/cob_description/package.xml b/cob_description/package.xml deleted file mode 100644 index 9c6ff595c..000000000 --- a/cob_description/package.xml +++ /dev/null @@ -1,30 +0,0 @@ - - cob_description - 0.7.8 - This package contains the description (mechanical, kinematic, visual, - etc.) of the Care-O-bot robot. The files in this package are parsed and used by - a variety of other components. Most users will not interact directly - with this package. - - Apache 2.0 - - http://ros.org/wiki/cob_description - - - Felix Messmer - Nadia Hammoudeh Garcia - Florian Weisshardt - Felix Messmer - - catkin - - gazebo_ros - rosbash - rospy - rosunit - xacro - - - - - diff --git a/cob_description/test/test_urdf.py b/cob_description/test/test_urdf.py deleted file mode 100755 index 8c6ada61d..000000000 --- a/cob_description/test/test_urdf.py +++ /dev/null @@ -1,55 +0,0 @@ -#!/usr/bin/env python -# -# Copyright 2017 Fraunhofer Institute for Manufacturing Engineering and Automation (IPA) -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. - - -import sys -import os -import unittest -import subprocess - -import rosunit - -## A sample python unit test -class TestUrdf(unittest.TestCase): - - def test_correct_format(self): - print(sys.argv) - print(len(sys.argv)) - - if len(sys.argv) < 2: - self.fail("no urdf file given, usage: " + os.path.basename(sys.argv[0]) + " file.urdf.xacro. \ninput parameters are: " + str(sys.argv)) - - file_to_test = sys.argv[1] - print("testing " + file_to_test) - - # check if file exists - if not os.path.exists(file_to_test): - self.fail('file "' + file_to_test + '" not found') - - # check if xacro can be converted - xacro_args = '--inorder' if (os.environ['ROS_DISTRO'] < 'melodic') else '' - p = subprocess.Popen("xacro " + xacro_args + " " + file_to_test + " > /tmp/test.urdf", shell=True, stdout=subprocess.PIPE, stderr=subprocess.PIPE) - (out,err) = p.communicate() - if p.returncode != 0 and p.returncode != None: - self.fail("cannot convert xacro. file: " + file_to_test + "\nOutput: " + out + "\nError: " + err) - - # check if urdf is correct - p = subprocess.Popen("check_urdf /tmp/test.urdf", shell=True, stdout=subprocess.PIPE, stderr=subprocess.PIPE) - if p.returncode != 0 and p.returncode != None: - self.fail("urdf not correct. file: " + file_to_test + "\n" + p.stderr.read()) - -if __name__ == '__main__': - rosunit.unitrun('cob_description', 'test_urdf', TestUrdf) diff --git a/cob_description/urdf/cob4_arm/cob4_arm.gazebo.xacro b/cob_description/urdf/cob4_arm/cob4_arm.gazebo.xacro deleted file mode 100644 index 281c3fe5b..000000000 --- a/cob_description/urdf/cob4_arm/cob4_arm.gazebo.xacro +++ /dev/null @@ -1,49 +0,0 @@ - - - - - - - true - false - - - - true - false - - - - true - false - - - - true - false - - - - true - false - - - - true - false - - - - true - false - - - - true - false - - - - - - diff --git a/cob_description/urdf/cob4_arm/cob4_arm.transmission.xacro b/cob_description/urdf/cob4_arm/cob4_arm.transmission.xacro deleted file mode 100644 index 02a1dc52b..000000000 --- a/cob_description/urdf/cob4_arm/cob4_arm.transmission.xacro +++ /dev/null @@ -1,18 +0,0 @@ - - - - - - - - - - - - - - - - - - diff --git a/cob_description/urdf/cob4_arm/cob4_arm.urdf.xacro b/cob_description/urdf/cob4_arm/cob4_arm.urdf.xacro deleted file mode 100644 index 9a5a38181..000000000 --- a/cob_description/urdf/cob4_arm/cob4_arm.urdf.xacro +++ /dev/null @@ -1,342 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ${name} - joint_names - - - - - - - diff --git a/cob_description/urdf/cob4_base/base.gazebo.xacro b/cob_description/urdf/cob4_base/base.gazebo.xacro deleted file mode 100644 index ef2f532a7..000000000 --- a/cob_description/urdf/cob4_base/base.gazebo.xacro +++ /dev/null @@ -1,37 +0,0 @@ - - - - - - true - false - - true - 100.0 - - ${name}_link_collision - ${name}_bumper - - - world - ${name}_bumper - - - - - - - true - 100.0 - ${name}_link - ${name}_pose_ground_truth - map - 25.7 25.7 0 - 0 0 0 - 0.01 - - ${name}_footprint - - - - diff --git a/cob_description/urdf/cob4_base/base.urdf.xacro b/cob_description/urdf/cob4_base/base.urdf.xacro deleted file mode 100644 index b204b6c66..000000000 --- a/cob_description/urdf/cob4_base/base.urdf.xacro +++ /dev/null @@ -1,136 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ${name} - joint_names - - - - - - diff --git a/cob_description/urdf/cob4_gripper/gripper.gazebo.xacro b/cob_description/urdf/cob4_gripper/gripper.gazebo.xacro deleted file mode 100644 index 299676fa0..000000000 --- a/cob_description/urdf/cob4_gripper/gripper.gazebo.xacro +++ /dev/null @@ -1,23 +0,0 @@ - - - - - - - true - false - - - - true - false - - - - true - false - - - - - diff --git a/cob_description/urdf/cob4_gripper/gripper.transmission.xacro b/cob_description/urdf/cob4_gripper/gripper.transmission.xacro deleted file mode 100644 index fe2057427..000000000 --- a/cob_description/urdf/cob4_gripper/gripper.transmission.xacro +++ /dev/null @@ -1,30 +0,0 @@ - - - - - - - transmission_interface/SimpleTransmission - - hardware_interface/PositionJointInterface - - - - 1 - - - - - transmission_interface/SimpleTransmission - - hardware_interface/PositionJointInterface - - - - 1 - - - - - - diff --git a/cob_description/urdf/cob4_gripper/gripper.urdf.xacro b/cob_description/urdf/cob4_gripper/gripper.urdf.xacro deleted file mode 100644 index 6ab85aeb4..000000000 --- a/cob_description/urdf/cob4_gripper/gripper.urdf.xacro +++ /dev/null @@ -1,169 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ${name} - joint_names - - - - - - diff --git a/cob_description/urdf/cob4_head/head.gazebo.xacro b/cob_description/urdf/cob4_head/head.gazebo.xacro deleted file mode 100644 index 46f1fdfba..000000000 --- a/cob_description/urdf/cob4_head/head.gazebo.xacro +++ /dev/null @@ -1,28 +0,0 @@ - - - - - - - true - false - - - - true - false - - - - true - false - - - - true - false - - - - - diff --git a/cob_description/urdf/cob4_head/head.transmission.xacro b/cob_description/urdf/cob4_head/head.transmission.xacro deleted file mode 100644 index 0b6d0f4b3..000000000 --- a/cob_description/urdf/cob4_head/head.transmission.xacro +++ /dev/null @@ -1,20 +0,0 @@ - - - - - - - - - - - - - - - - - - - - diff --git a/cob_description/urdf/cob4_head/head.urdf.xacro b/cob_description/urdf/cob4_head/head.urdf.xacro deleted file mode 100644 index 8b946e135..000000000 --- a/cob_description/urdf/cob4_head/head.urdf.xacro +++ /dev/null @@ -1,192 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ${name} - joint_names - - - - - - - diff --git a/cob_description/urdf/cob4_sensorring/sensorring.gazebo.xacro b/cob_description/urdf/cob4_sensorring/sensorring.gazebo.xacro deleted file mode 100644 index d6de12634..000000000 --- a/cob_description/urdf/cob4_sensorring/sensorring.gazebo.xacro +++ /dev/null @@ -1,14 +0,0 @@ - - - - - - - true - false - IPA/DarkGrey - - - - - diff --git a/cob_description/urdf/cob4_sensorring/sensorring.transmission.xacro b/cob_description/urdf/cob4_sensorring/sensorring.transmission.xacro deleted file mode 100644 index aa38a1b97..000000000 --- a/cob_description/urdf/cob4_sensorring/sensorring.transmission.xacro +++ /dev/null @@ -1,14 +0,0 @@ - - - - - - - - - - - - - - diff --git a/cob_description/urdf/cob4_sensorring/sensorring.urdf.xacro b/cob_description/urdf/cob4_sensorring/sensorring.urdf.xacro deleted file mode 100644 index 6a3e6184f..000000000 --- a/cob_description/urdf/cob4_sensorring/sensorring.urdf.xacro +++ /dev/null @@ -1,86 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ${name} - joint_names - - - - - - - diff --git a/cob_description/urdf/cob4_torso/torso.gazebo.xacro b/cob_description/urdf/cob4_torso/torso.gazebo.xacro deleted file mode 100644 index f4c4f65a3..000000000 --- a/cob_description/urdf/cob4_torso/torso.gazebo.xacro +++ /dev/null @@ -1,28 +0,0 @@ - - - - - - - true - false - - - - true - false - - - - true - false - - - - true - false - - - - - diff --git a/cob_description/urdf/cob4_torso/torso.transmission.xacro b/cob_description/urdf/cob4_torso/torso.transmission.xacro deleted file mode 100644 index cd06e3ccd..000000000 --- a/cob_description/urdf/cob4_torso/torso.transmission.xacro +++ /dev/null @@ -1,20 +0,0 @@ - - - - - - - - - - - - - - - - - - - - diff --git a/cob_description/urdf/cob4_torso/torso.urdf.xacro b/cob_description/urdf/cob4_torso/torso.urdf.xacro deleted file mode 100644 index cc5ec1b14..000000000 --- a/cob_description/urdf/cob4_torso/torso.urdf.xacro +++ /dev/null @@ -1,199 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ${name} - joint_names - - - - - - - diff --git a/cob_description/urdf/common.xacro b/cob_description/urdf/common.xacro deleted file mode 100644 index 454b549c0..000000000 --- a/cob_description/urdf/common.xacro +++ /dev/null @@ -1,108 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - transmission_interface/SimpleTransmission - - hardware_interface/PositionJointInterface - hardware_interface/VelocityJointInterface - - - - 1 - - - - - diff --git a/cob_description/urdf/drive_wheel/drive_wheel.gazebo.xacro b/cob_description/urdf/drive_wheel/drive_wheel.gazebo.xacro deleted file mode 100644 index 5f2e45cff..000000000 --- a/cob_description/urdf/drive_wheel/drive_wheel.gazebo.xacro +++ /dev/null @@ -1,19 +0,0 @@ - - - - - - true - false - - - - - - true - false - - - - - diff --git a/cob_description/urdf/drive_wheel/drive_wheel.transmission.xacro b/cob_description/urdf/drive_wheel/drive_wheel.transmission.xacro deleted file mode 100644 index b640a689a..000000000 --- a/cob_description/urdf/drive_wheel/drive_wheel.transmission.xacro +++ /dev/null @@ -1,34 +0,0 @@ - - - - - - - - transmission_interface/SimpleTransmission - - hardware_interface/VelocityJointInterface - - - ${reflect * 624/35 * 80/18} - - - - - - - - - - transmission_interface/SimpleTransmission - - hardware_interface/PositionJointInterface - hardware_interface/VelocityJointInterface - - - ${-1 * 624/35 * 80/18} - - - - - diff --git a/cob_description/urdf/drive_wheel/drive_wheel.urdf.xacro b/cob_description/urdf/drive_wheel/drive_wheel.urdf.xacro deleted file mode 100644 index df63d2358..000000000 --- a/cob_description/urdf/drive_wheel/drive_wheel.urdf.xacro +++ /dev/null @@ -1,126 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/cob_description/urdf/materials.urdf.xacro b/cob_description/urdf/materials.urdf.xacro deleted file mode 100644 index 8e6c3a437..000000000 --- a/cob_description/urdf/materials.urdf.xacro +++ /dev/null @@ -1,32 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/cob_description/urdf/pg70/pg70.gazebo.xacro b/cob_description/urdf/pg70/pg70.gazebo.xacro deleted file mode 100644 index e2149a8ac..000000000 --- a/cob_description/urdf/pg70/pg70.gazebo.xacro +++ /dev/null @@ -1,23 +0,0 @@ - - - - - - - true - false - - - - true - false - - - - true - false - - - - - diff --git a/cob_description/urdf/pg70/pg70.transmission.xacro b/cob_description/urdf/pg70/pg70.transmission.xacro deleted file mode 100644 index 084884429..000000000 --- a/cob_description/urdf/pg70/pg70.transmission.xacro +++ /dev/null @@ -1,13 +0,0 @@ - - - - - - - - - - - - - diff --git a/cob_description/urdf/pg70/pg70.urdf.xacro b/cob_description/urdf/pg70/pg70.urdf.xacro deleted file mode 100644 index d76864277..000000000 --- a/cob_description/urdf/pg70/pg70.urdf.xacro +++ /dev/null @@ -1,144 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ${name}_finger_right_joint - ${name}_finger_left_joint - 1.0 - 0.0 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ${name} - joint_names - - - - - - diff --git a/cob_description/urdf/sensors/kinect.gazebo.xacro b/cob_description/urdf/sensors/kinect.gazebo.xacro deleted file mode 100644 index 83034275e..000000000 --- a/cob_description/urdf/sensors/kinect.gazebo.xacro +++ /dev/null @@ -1,57 +0,0 @@ - - - - - - - true - ${update_rate/(data_skip+1)} - - ${62.0*M_PI/180.0} - - B8G8R8 - ${height} - ${width} - - - 0.1 - 100 - - - gaussian - 0.0 - 0.0 - - - - ${update_rate/(data_skip+1)} - ${ros_topic} - ${name}_color_optical_frame - rgb/image_raw - rgb/camera_info - depth_registered/points - depth_registered/image_raw - depth_registered/camera_info - 0.5 - 5.0 - 0.2 - 0.0 - 0.0 - 0.0 - 0.0 - 0.0 - 0.0 - 0.0 - 0.0 - 0.0 - 0.0 - - - IPA/LightGrey - - - - - - diff --git a/cob_description/urdf/sensors/kinect.urdf.xacro b/cob_description/urdf/sensors/kinect.urdf.xacro deleted file mode 100644 index 168f23870..000000000 --- a/cob_description/urdf/sensors/kinect.urdf.xacro +++ /dev/null @@ -1,40 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/cob_description/urdf/sensors/prosilica.gazebo.xacro b/cob_description/urdf/sensors/prosilica.gazebo.xacro deleted file mode 100644 index a878ead4b..000000000 --- a/cob_description/urdf/sensors/prosilica.gazebo.xacro +++ /dev/null @@ -1,50 +0,0 @@ - - - - - - - true - 10.0 - - 0.58 - - B8G8R8 - 1360 - 1024 - - - 0.1 - 100 - - - gaussian - 0.0 - 0.0 - - - - 10.0 - ${name}_sensor - /${name}_link - ${ros_topic}_image_data - /${ros_topic}/image_raw - /${ros_topic}/camera_info - /${name}/request_image - 697.69 - 697.69 - 530.51 - 2278.722731 - 0.0 - 0.0 - 0.0 - 0.0 - 0.0 - 0.0 - - - - - - - diff --git a/cob_description/urdf/sensors/prosilica.urdf.xacro b/cob_description/urdf/sensors/prosilica.urdf.xacro deleted file mode 100644 index 2602b9910..000000000 --- a/cob_description/urdf/sensors/prosilica.urdf.xacro +++ /dev/null @@ -1,45 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/cob_description/urdf/sensors/realsense.gazebo.xacro b/cob_description/urdf/sensors/realsense.gazebo.xacro deleted file mode 100644 index c9e806a45..000000000 --- a/cob_description/urdf/sensors/realsense.gazebo.xacro +++ /dev/null @@ -1,56 +0,0 @@ - - - - - - - - true - ${color_fps} - - ${74.0*M_PI/180.0} - - B8G8R8 - ${color_width} - ${color_height} - - - 0.15 - 1.0 - - - gaussian - 0.0 - 0.0 - - - - ${color_fps} - ${ros_topic} - ${name}_rgb_optical_frame - rgb/image_raw - rgb/camera_info - depth/points - depth/image_raw - depth/camera_info - 0.5 - 5.0 - 0.0 - 0.0 - 0.0 - 0.0 - 0.0 - 0.0 - 0.0 - 0.0 - 0.0 - - - IPA/LightGrey - - - - - diff --git a/cob_description/urdf/sensors/realsense.urdf.xacro b/cob_description/urdf/sensors/realsense.urdf.xacro deleted file mode 100644 index cf72e35c8..000000000 --- a/cob_description/urdf/sensors/realsense.urdf.xacro +++ /dev/null @@ -1,36 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/cob_description/urdf/sensors/realsense_d435.gazebo.xacro b/cob_description/urdf/sensors/realsense_d435.gazebo.xacro deleted file mode 100644 index 2861b17b6..000000000 --- a/cob_description/urdf/sensors/realsense_d435.gazebo.xacro +++ /dev/null @@ -1,57 +0,0 @@ - - - - - - - - true - ${color_fps} - - ${85.2*M_PI/180.0} - - B8G8R8 - ${color_width} - ${color_height} - - - 0.2 - 10.0 - - - gaussian - 0.0 - 0.0 - - - - ${color_fps} - ${name} - ${name}_color_optical_frame - rgb/image_raw - rgb/camera_info - depth/points - depth/image_raw - depth/camera_info - 0.2 - 5.0 - 0.0 - 0.0 - 0.0 - 0.0 - 0.0 - 0.0 - 0.0 - 0.0 - 0.0 - - - - IPA/LightGrey - - - - - diff --git a/cob_description/urdf/sensors/realsense_d435.urdf.xacro b/cob_description/urdf/sensors/realsense_d435.urdf.xacro deleted file mode 100644 index 5cdff172d..000000000 --- a/cob_description/urdf/sensors/realsense_d435.urdf.xacro +++ /dev/null @@ -1,44 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/cob_description/urdf/sensors/realsense_zr300.gazebo.xacro b/cob_description/urdf/sensors/realsense_zr300.gazebo.xacro deleted file mode 100644 index 03a0eb6b3..000000000 --- a/cob_description/urdf/sensors/realsense_zr300.gazebo.xacro +++ /dev/null @@ -1,57 +0,0 @@ - - - - - - - - true - ${color_fps} - - ${74.0*M_PI/180.0} - - B8G8R8 - ${color_width} - ${color_height} - - - 0.55 - 2.8 - - - gaussian - 0.0 - 0.0 - - - - ${color_fps} - ${ros_topic} - ${name}_rgb_optical_frame - rgb/image_raw - rgb/camera_info - depth/points - depth/image_raw - depth/camera_info - 0.55 - 2.8 - 0.0 - 0.0 - 0.0 - 0.0 - 0.0 - 0.0 - 0.0 - 0.0 - 0.0 - - - - IPA/LightGrey - - - - - diff --git a/cob_description/urdf/sensors/realsense_zr300.urdf.xacro b/cob_description/urdf/sensors/realsense_zr300.urdf.xacro deleted file mode 100644 index c6811892b..000000000 --- a/cob_description/urdf/sensors/realsense_zr300.urdf.xacro +++ /dev/null @@ -1,36 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/cob_description/urdf/sensors/rplidar.gazebo.xacro b/cob_description/urdf/sensors/rplidar.gazebo.xacro deleted file mode 100644 index dab751294..000000000 --- a/cob_description/urdf/sensors/rplidar.gazebo.xacro +++ /dev/null @@ -1,39 +0,0 @@ - - - - - - - true - 12.0 - 0 0 0 0 0 0 - false - - - - 360 - 1.0 - -3.1415 - 3.1415 - - - - 0.05 - 12 - 0.02 - - - gaussian - 0.0 - 0.05 - - - - ${name}/scan_raw - ${name}_link - - - - - - diff --git a/cob_description/urdf/sensors/rplidar.urdf.xacro b/cob_description/urdf/sensors/rplidar.urdf.xacro deleted file mode 100644 index cfac7f6d6..000000000 --- a/cob_description/urdf/sensors/rplidar.urdf.xacro +++ /dev/null @@ -1,41 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/cob_description/urdf/sensors/sick_3dcs.gazebo.xacro b/cob_description/urdf/sensors/sick_3dcs.gazebo.xacro deleted file mode 100644 index b40ff44f4..000000000 --- a/cob_description/urdf/sensors/sick_3dcs.gazebo.xacro +++ /dev/null @@ -1,53 +0,0 @@ - - - - - - - true - 30.0 - - ${74.0*M_PI/180.0} - - B8G8R8 - 176 - 144 - - - 0.15 - 1.0 - - - gaussian - 0.0 - 0.0 - - - - 25.0 - ${ros_topic} - ${name}_optical_frame - - - depth/points - depth/image - depth/camera_info - 0.5 - 5.0 - 0.0 - 0.0 - 0.0 - 0.0 - 0.0 - 0.0 - 0.0 - 0.0 - 0.0 - - - IPA/LightGrey - - - - - diff --git a/cob_description/urdf/sensors/sick_3dcs.urdf.xacro b/cob_description/urdf/sensors/sick_3dcs.urdf.xacro deleted file mode 100644 index 1a5dfdf52..000000000 --- a/cob_description/urdf/sensors/sick_3dcs.urdf.xacro +++ /dev/null @@ -1,37 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/cob_description/urdf/sensors/sick_s300_laser.gazebo.xacro b/cob_description/urdf/sensors/sick_s300_laser.gazebo.xacro deleted file mode 100644 index 7fb1390bd..000000000 --- a/cob_description/urdf/sensors/sick_s300_laser.gazebo.xacro +++ /dev/null @@ -1,39 +0,0 @@ - - - - - - - true - 12.0 - 0 0 0 0 0 0 - false - - - - 541 - 1.0 - -2.3562 - 2.3562 - - - - 0.05 - 29.5 - 0.03 - - - gaussian - 0.0 - 0.02 - - - - ${name}/scan_raw - ${name}_link - - - - - - diff --git a/cob_description/urdf/sensors/sick_s300_laser.urdf.xacro b/cob_description/urdf/sensors/sick_s300_laser.urdf.xacro deleted file mode 100644 index 838785953..000000000 --- a/cob_description/urdf/sensors/sick_s300_laser.urdf.xacro +++ /dev/null @@ -1,40 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/cob_description/urdf/sensors/usb_cam.gazebo.xacro b/cob_description/urdf/sensors/usb_cam.gazebo.xacro deleted file mode 100644 index 9789b9c67..000000000 --- a/cob_description/urdf/sensors/usb_cam.gazebo.xacro +++ /dev/null @@ -1,70 +0,0 @@ - - - - - - - - - ${update_rate} - - ${170.0*M_PI/180.0} - - B8G8R8 - ${width} - ${height} - - - 0.02 - 300 - - - gaussian - 0.0 - 0.007 - - - - custom - - - - 1.05 - - 4 - - 1.0 - - tan - - - - - true - - ${M_PI} - - 512 - - - - true - ${update_rate} - ${ros_topic} - image_raw - camera_info - ${name}_optical_frame - 0.07 - 0.0 - 0.0 - 0.0 - 0.0 - 0.0 - - - IPA/LightGrey - - - - - diff --git a/cob_description/urdf/sensors/usb_cam.urdf.xacro b/cob_description/urdf/sensors/usb_cam.urdf.xacro deleted file mode 100644 index 20f79011d..000000000 --- a/cob_description/urdf/sensors/usb_cam.urdf.xacro +++ /dev/null @@ -1,56 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/cob_msgs/CHANGELOG.rst b/cob_msgs/CHANGELOG.rst index 33ec1e820..f714b2690 100644 --- a/cob_msgs/CHANGELOG.rst +++ b/cob_msgs/CHANGELOG.rst @@ -2,6 +2,28 @@ Changelog for package cob_msgs ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.8.12 (2024-08-05) +------------------- + +0.8.11 (2024-04-30) +------------------- +* 0.7.11 +* update changelogs +* Contributors: fmessmer + +0.7.11 (2024-04-18) +------------------- + +0.7.10 (2024-02-20) +------------------- + +0.7.9 (2023-11-06) +------------------ +* Merge pull request `#301 `_ from omar-ihab-ali/update/emergency_stop_state_msg + update EmergencyStopState Msg to include other states sent from PLC +* update EmergencyStopState Msg to include other states sent from PLC +* Contributors: Benjamin Maidel, omar-ihab-ali + 0.7.8 (2022-07-29) ------------------ * Merge pull request `#297 `_ from floweisshardt/feature/power_state_connected diff --git a/cob_msgs/CMakeLists.txt b/cob_msgs/CMakeLists.txt index 4e26651e1..a41cb2626 100644 --- a/cob_msgs/CMakeLists.txt +++ b/cob_msgs/CMakeLists.txt @@ -1,17 +1,21 @@ -cmake_minimum_required(VERSION 3.0.2) +cmake_minimum_required(VERSION 3.8) project(cob_msgs) -find_package(catkin REQUIRED COMPONENTS diagnostic_msgs message_generation std_msgs) -add_message_files(FILES - AccessPoint.msg - DashboardState.msg - EmergencyStopState.msg - Network.msg - PowerState.msg - SafetyControllerState.msg - SiteSurvey.msg -) +find_package(ament_cmake REQUIRED) +find_package(rosidl_default_generators REQUIRED) +find_package(diagnostic_msgs REQUIRED) +find_package(std_msgs REQUIRED) -generate_messages(DEPENDENCIES diagnostic_msgs std_msgs) +# Assuming your message files are now located in the "msg" directory. +rosidl_generate_interfaces(${PROJECT_NAME} + "msg/AccessPoint.msg" + "msg/DashboardState.msg" + "msg/EmergencyStopState.msg" + "msg/Network.msg" + "msg/PowerState.msg" + "msg/SafetyControllerState.msg" + "msg/SiteSurvey.msg" + DEPENDENCIES diagnostic_msgs std_msgs +) -catkin_package(CATKIN_DEPENDS diagnostic_msgs message_runtime std_msgs) +ament_package() diff --git a/cob_msgs/msg/AccessPoint.msg b/cob_msgs/msg/AccessPoint.msg index da7d9bdaf..84c5de978 100644 --- a/cob_msgs/msg/AccessPoint.msg +++ b/cob_msgs/msg/AccessPoint.msg @@ -1,5 +1,5 @@ # This message communicates the state of the PR2's wifi access point. -Header header +std_msgs/Header header string essid string macaddr int32 signal diff --git a/cob_msgs/msg/EmergencyStopState.msg b/cob_msgs/msg/EmergencyStopState.msg index 3acebd855..9abb43544 100644 --- a/cob_msgs/msg/EmergencyStopState.msg +++ b/cob_msgs/msg/EmergencyStopState.msg @@ -1,11 +1,17 @@ # This message holds the emergency stop (EMStop) status of the robot. It detects wether an EMStop is caused by the safety laserscanner or the emergency stop buttons. Moreover, it gives signalizes wether the EMStop was confirmed (after Button press stop) and the system is free again. # Possible EMStop States -int16 EMFREE = 0 # system operatign normal -int16 EMSTOP = 1 # emergency stop is active (Button pressed; obstacle in safety field of scanner) -int16 EMCONFIRMED = 2 # emergency stop was confirmed system is reinitializing and going back to normal +int16 EMFREE = 0 # system operatign normal +int16 EMSTOP = 1 # emergency stop is active (Button pressed; obstacle in safety field of scanner) +int16 EMCONFIRMED = 2 # emergency stop was confirmed system is reinitializing and going back to normal -bool emergency_button_stop # true = emergency stop signal is issued by button pressed -bool scanner_stop # true = emergency stop signal is issued by scanner -int16 emergency_state # state (including confimation by key-switch), values see above +bool emergency_button_stop # true = emergency stop signal is issued by button pressed +bool scanner_stop # true = emergency stop signal is issued by scanner +bool monitoring_stop # true = emergency stop signal is issued by monitor +bool user_interaction_stop # true = emergency stop signal is issued by ui +bool hardware_stop # true = emergency stop signal is issued due to hardware failure +bool bumper_stop # true = emergency stop signal is issued by bumper +bool fall_stop # true = emergency stop signal is issued by fall-protecting sensors +bool charge_stop # true = emergency stop signal is issued due to charging process +int16 emergency_state # state (including confimation by key-switch), values see above \ No newline at end of file diff --git a/cob_msgs/msg/PowerState.msg b/cob_msgs/msg/PowerState.msg index 47cf00d7c..d15d7111c 100644 --- a/cob_msgs/msg/PowerState.msg +++ b/cob_msgs/msg/PowerState.msg @@ -1,5 +1,5 @@ # This message communicates the state of the power system. -Header header +std_msgs/Header header float64 voltage # [V] float64 current # [A] float64 power_consumption # [W] can only be calculated if not charging diff --git a/cob_msgs/msg/SafetyControllerState.msg b/cob_msgs/msg/SafetyControllerState.msg index 04a8e81ee..12b8d97bd 100644 --- a/cob_msgs/msg/SafetyControllerState.msg +++ b/cob_msgs/msg/SafetyControllerState.msg @@ -1,4 +1,4 @@ -Header header +std_msgs/Header header bool has_wireless_emstop bool has_fall_sensors bool has_magnetic_safety_switch diff --git a/cob_msgs/msg/SiteSurvey.msg b/cob_msgs/msg/SiteSurvey.msg index fadf87b9a..5d57c98a9 100644 --- a/cob_msgs/msg/SiteSurvey.msg +++ b/cob_msgs/msg/SiteSurvey.msg @@ -1,2 +1,2 @@ -Header header +std_msgs/Header header Network[] networks diff --git a/cob_msgs/package.xml b/cob_msgs/package.xml index 06fe0634f..34a48cd80 100644 --- a/cob_msgs/package.xml +++ b/cob_msgs/package.xml @@ -1,22 +1,23 @@ - + + cob_msgs - 0.7.8 + 0.8.12 - Messages for representing state information, such as battery information and emergency stop status. + Messages for representing state information, such as battery and emergency stop statuses. - + Benjamin Maidel + Denis Lehmann Felix Messmer Florian Weisshardt Florian Weisshardt + Apache-2.0 - Apache 2.0 - - catkin - - message_generation - message_runtime + ament_cmake + rosidl_default_generators diagnostic_msgs std_msgs + rosidl_default_runtime + rosidl_interface_packages diff --git a/cob_srvs/CHANGELOG.rst b/cob_srvs/CHANGELOG.rst index 884a2d63b..da375c78d 100644 --- a/cob_srvs/CHANGELOG.rst +++ b/cob_srvs/CHANGELOG.rst @@ -2,6 +2,24 @@ Changelog for package cob_srvs ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.8.12 (2024-08-05) +------------------- + +0.8.11 (2024-04-30) +------------------- +* 0.7.11 +* update changelogs +* Contributors: fmessmer + +0.7.11 (2024-04-18) +------------------- + +0.7.10 (2024-02-20) +------------------- + +0.7.9 (2023-11-06) +------------------ + 0.7.8 (2022-07-29) ------------------ diff --git a/cob_srvs/CMakeLists.txt b/cob_srvs/CMakeLists.txt index 83df92310..171d07e38 100644 --- a/cob_srvs/CMakeLists.txt +++ b/cob_srvs/CMakeLists.txt @@ -1,19 +1,17 @@ -cmake_minimum_required(VERSION 3.0.2) +cmake_minimum_required(VERSION 3.8) project(cob_srvs) -find_package(catkin REQUIRED COMPONENTS geometry_msgs message_generation) +find_package(ament_cmake REQUIRED) +find_package(rosidl_default_generators REQUIRED) +find_package(geometry_msgs REQUIRED) -add_service_files(FILES - Dock.srv - SetFloat.srv - SetInt.srv - SetString.srv -) - -generate_messages( +# Assuming your service files are now in the "srv" directory. +rosidl_generate_interfaces(${PROJECT_NAME} + "srv/Dock.srv" + "srv/SetFloat.srv" + "srv/SetInt.srv" + "srv/SetString.srv" DEPENDENCIES geometry_msgs ) -catkin_package( - CATKIN_DEPENDS geometry_msgs message_runtime -) +ament_package() diff --git a/cob_srvs/package.xml b/cob_srvs/package.xml index 98dc87e01..24be9a633 100644 --- a/cob_srvs/package.xml +++ b/cob_srvs/package.xml @@ -1,21 +1,19 @@ - + + cob_srvs - 0.7.8 - This Package contains Care-O-bot specific service definitions. - - Apache 2.0 - + 0.8.12 + This package contains Care-O-bot specific service definitions. + Apache-2.0 http://ros.org/wiki/cob_srvs - - + Benjamin Maidel + Denis Lehmann Felix Messmer Florian Weisshardt Florian Weisshardt - catkin - - message_generation - message_runtime + ament_cmake + rosidl_default_generators geometry_msgs - + rosidl_default_runtime + rosidl_interface_packages diff --git a/raw_description/CHANGELOG.rst b/raw_description/CHANGELOG.rst deleted file mode 100644 index 1ec022fdd..000000000 --- a/raw_description/CHANGELOG.rst +++ /dev/null @@ -1,321 +0,0 @@ -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Changelog for package raw_description -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ - -0.7.8 (2022-07-29) ------------------- - -0.7.7 (2021-12-23) ------------------- -* Merge pull request `#294 `_ from fmessmer/unique_control_plugin - guarantee unique plugin name for hwi_switch_gazebo_ros_control -* guarantee unique plugin name for hwi_switch_gazebo_ros_control -* Contributors: Felix Messmer, fmessmer - -0.7.6 (2021-08-02) ------------------- - -0.7.5 (2021-07-01) ------------------- - -0.7.4 (2020-11-20) ------------------- - -0.7.3 (2020-09-26) ------------------- -* Merge pull request `#288 `_ from fmessmer/test_noetic - test noetic -* Bump CMake version to avoid CMP0048 warning -* Merge pull request `#287 `_ from fmessmer/fix/include_common_xacro - add missing common xacro includes -* more missing common.xacro for intertial macros -* Merge pull request `#279 `_ from fmessmer/fix_xacro_test - [travis] xacro test -* comment ur_description bits -* Contributors: Felix Messmer, fmessmer - -0.7.2 (2020-03-18) ------------------- -* Merge pull request `#281 `_ from ipa-jba/feature/raw-mini - Feature/raw mini -* nitpick -* remove unneeded values -* add a planar move plugin for raw-mini (no mecanum) -* use updated meshes -* add a mecanum wheel (5cm wide 5cm radius) -* Updated config for raw-mini -* Added files for raw-mini -* Merge pull request `#277 `_ from fmessmer/ci_updates - [travis] ci updates -* catkin_lint fixes -* Contributors: Felix Messmer, Jannik Abbenseth, flg-vs, fmessmer - -0.7.1 (2019-11-07) ------------------- - -0.7.0 (2019-08-06) ------------------- -* Merge pull request `#271 `_ from benmaidel/feature/melodify - [Melodic] -* more hardware_interface prefixing -* added hardware_interface prefix for transmission (melodic's cob_gazebo_ros_control plugin expects it) -* Contributors: Benjamin Maidel, Felix Messmer, fmessmer - -0.6.12 (2019-05-20) -------------------- - -0.6.11 (2019-04-05) -------------------- - -0.6.10 (2019-03-14) -------------------- - -0.6.9 (2018-07-21) ------------------- -* fix syntax -* fix torso urdf for raw3-1 (`#241 `_) - * updated raw3-1 configuration - * Changed back to collision box - * Using inertia macro - * Use geometry macro -* Contributors: Felix Messmer, Richard Bormann - -0.6.8 (2018-01-07) ------------------- -* Merge pull request `#246 `_ from ipa320/indigo_release_candidate - Indigo release candidate -* Merge pull request `#239 `_ from ipa-fxm/indigo_dev_rmb - corrected torso definition -* corrected torso definition -* Merge pull request `#232 `_ from bmagyar/simplify_raw_vacuum_gripper_collision_model - Replace vacuum gripper collision mesh with bounding box -* Replace vacuum gripper collision mesh with bounding box -* Merge pull request `#230 `_ from ipa-fxm/update_maintainer - update maintainer -* Merge pull request `#231 `_ from ipa-fxm/update_torso_raw3-1 - new torso raw3-1 -* add new torso for raw3-1 -* add powerball urdf -* update maintainer -* Merge pull request `#224 `_ from ipa-fxm/APACHE_license - use license apache 2.0 -* Merge pull request `#229 `_ from ipa-fxm/move_ur_arm - move ur_arm to raw_description -* move ur_arm to raw_description -* use license apache 2.0 -* Contributors: Bence Magyar, Felix Messmer, Richard Bormann, ipa-fxm, ipa-uhr-mk - -0.6.7 (2017-07-17) ------------------- -* Current config gripper (`#221 `_) - * added vacuum gripper - * New STL file for the vacuum gripper - * Vacuum Gripper file description updated - * torso and gripper updates - * removed obsolete files - * orient_gripper -* fix the wheel radius to meet with the actual hardware radii -* separate laser scanner from base -* finalizing -* changes acoording to pull request -* origin of the colision mesh corrected according with visual values -* origin of the colision mesh corrected -* gripper mesh simplified -* stable behavior by tweaking the base mass/inertia achieved -* stable behavior by tweaking the base mass/inertia achieved -* get a stable behavior by tweaking the base mass/inertia -* use scalable primitive meshes -* use the properties at the top for the collision properties -* file name and suffix all small letters. -* gripper macro name changed and prefix removed as argument -* tabs vs spaces solved -* requested changes -* torso and gripper updates -* Vacuum Gripper file description updated -* New STL file for the vacuum gripper -* added vacuum gripper -* move gazebo_ros_control plugin -* use latest xacro syntax -* manually fix changelog -* Contributors: Bruno Brito, Richard Bormann, ipa-bfb-sc, ipa-fxm, ipa-mjp, ipa-raw3-3 - -0.6.6 (2016-10-10) ------------------- -* fixed inertia and mass for raw3 base long -* Contributors: Benjamin Maidel - -0.6.5 (2016-04-01) ------------------- -* restructure simulated lasers and laser topic names -* fixed copy paste error for base_short laser mounting position -* Contributors: Benjamin Maidel, ipa-fxm - -0.6.4 (2015-08-29) ------------------- -* fix typo in collision mesh file name -* add explicit exec_depend to xacro -* fix catkin_minimum_required version -* remove trailing whitespaces -* remove trailing whitespaces -* migrate to package format 2 -* sort dependencies -* critically review dependencies -* Contributors: ipa-fxm - -0.6.3 (2015-06-17) ------------------- -* allow laser calibration -* remove unsupported calibration_rising -* separate xacro macro for drive_wheel module used in all bases + significant simplification -* use PositionJointInterface -* Contributors: ipa-fxm - -0.6.2 (2014-12-15) ------------------- -* use VelocityJointInterface hardware interfaces for simulation of all bases -* Contributors: ipa-fxm - -0.6.1 (2014-09-24) ------------------- -* 1=true -* fix bumper plugins -* Contributors: ipa-fxm - -0.6.0 (2014-09-16) ------------------- - -0.5.5 (2014-08-27) ------------------- - -0.5.4 (2014-08-25) ------------------- -* update changelog -* consistency changes due to latest gazebo tag format -* consitency changes due to new transmission format -* unify materials -* include gazebo_ros dependendy to export materials -* merge with hydro_dev -* cleanup dependencies -* beautify indentation + cleaning up -* better approximation of inertias -* Merge pull request `#112 `_ from ipa-cob4-1/hydro_dev - Rotated sick_s300 mesh file -* use the macros instead 3.14... -* Merge github.com:ipa-cob4-1/cob_common into hydro_dev -* switch laser scanner orientation -* removed bumpers and changed transmission config to new syntax -* no inertia in base_footprint -* use collada material description -* remove material physic properties of wheels to use default, fixes `#90 `_ -* Contributors: Alexander Bubeck, Felix Messmer, Florian Weisshardt, ipa-bnm, ipa-cob4-1, ipa-fxm, ipa-nhg - -0.5.3 (2014-03-31) ------------------- - -0.5.2 (2014-03-20) ------------------- -* merge with groovy_dev_cob4 -* fixed gazebo_plugins -* fixed path to file -* update transmission for all components -* update xmlns + beautifying -* fix xacro include tag deprecation -* Merge pull request `#7 `_ from ipa-fxm/groovy_dev - bring groovy updates to hydro -* harmonize with cob structure -* upstream changes -* fixing simulation for hydro. Still wip -* Solved xacro Warning in hydro. -* also add urdf include for tf -* small changes for new camera setup -* changes for hydro gazebo, still not fully working -* changed wheel positions to make rotation right, also changed some bugs in the asymetric tower -* changed mesh origin to the center of the base plate -* deleted ur10 description -* Contributors: Denis Štogl, abubeck, ipa-bnm, ipa-fxm, ipa-nhg, raw3-1 administrator - -0.5.1 (2013-08-16 01:14:35 -0700) ---------------------------------- - -0.5.0 (2013-08-16 01:14:35 -0700) ---------------------------------- -* added installer stuff -* fixed bug after merging -* merged with upstream changes -* removed generation of mesh files -* Merge pull request `#41 `_ from ipa-fxm/mesh_gen_fix - remove mesh file generation from description packages - they are not nee... -* cleanup deps -* Catkin for cob_common -* remove mesh file generation from description packages - they are not needed any longer -* new files for adding universal arms with origin parameter -* new gazebo sensor structure -* merge -* moved tower meshes -* changed path to tower meshes -* added materials -* raw tower descriptions -* added new description for the short raw base -* added new base description for the longer raw base -* remove deprecated ur10 description and meshes from cob_common -* mainly beautifying -* clean up gazebo files -* go back to using mesh for collision instead of big box - box makes robot not movable within gazebo -* re-add kinect to raw-torso -* major adaptions in gazebo.urdf.xacros according to new gazebo format for controllers -* Revert "increase size of boxgripper" - This reverts commit 2b97071804a7627ca8a41079fbe35cf5c01dc57b. -* increase size of boxgripper -* use boxgripper mesh in urdf -* new mesh for boxgripper -* modified boxgripper -* fixed urdf -* urdf fix -* raw description and meshes for short raw -* adjusted boxgripper collision geometry -* simpler collision geometries -* no stereo cameras attached to raw3-1 -* fixed box_gripper position -* added ur10 in raw3-1 description -* Groovy migration -* merge -* Deleted texture colors -* Renamed colors -* fix color -* fix colors and powerball tray -* raw torso calibration -* modified raw3-1 urdf description -* added amadeus boxgripper description for raw3-1 -* flipped front to back like on real robot -* fixed typo -* changed names from cob to raw and adapted gazebo and transmission files -* changed limit of torso tilt -* changed torso back to working version from robot, renamed joints -* removed old arm_ur files -* removed old arm_ur meshes -* adapted raw_torso files -* final raw-model V2 -* use stl -* new files for raw_description, some fixes -* fixed: all stl file shouldn't start with the word 'solid'. Replace 'solid' with 'robot', see http://ros.org/wiki/cob_description -* merge -* final raw-model -* changed stl files not using solid -* changed kinect configuration for fuerte, changed stlb links to stl -* Merge branch 'review-abubeck' -* finished raw3-1 model --- V1 -* small urdf bugfix -* remove swp file -* Merge branch 'master' of github.com:ipa320/cob_common -* deleted swap file -* changes for raw -* delete obsolete files -* added new stls for raw base -* moved sick_s300 stl to cob_description -* added stls and adopted model due to CAD data for raw3-1 -* added torso -* substitute 1.57 3.14 6.28 through M_PI -* changed direction of urdf model to new convention -* changed rotation of laser scanner to work on real robot -* renamed icob to raw and merged and cleaned up lots of things -* Contributors: Alexander Bubeck, Florian Weißhardt, Lucian Cucu, abubeck, ipa-bnm, ipa-fmw, ipa-fxm, ipa-nhg, robot diff --git a/raw_description/CMakeLists.txt b/raw_description/CMakeLists.txt deleted file mode 100644 index 4e7d7313d..000000000 --- a/raw_description/CMakeLists.txt +++ /dev/null @@ -1,10 +0,0 @@ -cmake_minimum_required(VERSION 3.0.2) -project(raw_description) - -find_package(catkin REQUIRED) - -catkin_package() - -install(DIRECTORY Media meshes urdf - DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} -) diff --git a/raw_description/Media/materials/scripts/ipa.material b/raw_description/Media/materials/scripts/ipa.material deleted file mode 100644 index 883f28083..000000000 --- a/raw_description/Media/materials/scripts/ipa.material +++ /dev/null @@ -1,98 +0,0 @@ -material IPA/LightGrey -{ - receive_shadows on - - technique - { - pass - { - ambient 0.7 0.7 0.7 1 - diffuse 0.1 0.1 0.1 1 - } - } -} - -material IPA/DarkGrey -{ - receive_shadows on - - technique - { - pass - { - ambient 0.4 0.4 0.4 1 - diffuse 0.1 0.1 0.1 1 - } - } -} - -material IPA/Black -{ - technique - { - pass - { - ambient 0.0 0.0 0.0 1.0 - diffuse 0.1 0.1 0.1 1 - } - } -} - -material IPA/Metal -{ - receive_shadows on - - technique - { - pass - { - lighting on - ambient 0.7 0.7 0.7 1 - diffuse 0.7 0.7 0.7 1 - specular 0.9 0.9 0.9 1 - } - } -} - - -material IPA/YellowRubber -{ - receive_shadows on - - technique - { - pass - { - lighting on - ambient 0.4 0.27 0.16 1 - diffuse 0.4 0.27 0.16 1 - specular 0.67 0.41 0.14 1 - } - } -} - -material IPA/Orange -{ - technique - { - pass - { - ambient 1.0 0.4 0.0 0 - diffuse 0.1 0.1 0.1 1 - } - } -} - -material IPA/Blue -{ - receive_shadows on - - technique - { - pass - { - ambient 0.0 0.0 0.5 1 - diffuse 0.1 0.1 0.1 1 - } - } -} diff --git a/raw_description/meshes/base/mecanum.dae b/raw_description/meshes/base/mecanum.dae deleted file mode 100644 index 9e40fa008..000000000 --- a/raw_description/meshes/base/mecanum.dae +++ /dev/null @@ -1,294 +0,0 @@ - - - - - Blender User - Blender 2.79.0 - - 2020-01-27T17:09:55 - 2020-01-27T17:09:55 - - Z_UP - - - - - - - 49.13434 - 1.777778 - 0.1 - 100 - - - - - - 0 - 0 - 0 - - - - - - - - - 1 1 1 - 1 - 0 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128.8887 41.05229 -107.473 125.5714 39.8237 -105.473 125.5714 39.8237 -105.473 122.052 39.46582 -107.473 122.052 39.46582 -105.473 119.9368 39.68092 -107.473 119.9368 39.68092 -105.473 116.5615 40.73991 -107.473 116.5615 40.73991 -105.473 114.1204 42.17693 -107.473 114.1204 42.17693 -107.473 132.3061 43.56184 -105.473 111.5565 44.61414 -107.473 111.5565 44.61414 -105.473 109.9977 46.97938 -107.473 109.9977 46.97938 -107.473 108.6262 50.99145 -105.473 108.6262 50.99145 -105.473 108.4111 53.10667 -107.473 108.4111 53.10667 -105.473 108.6262 55.9312 -107.473 108.6262 55.9312 -107.473 109.1592 57.98946 -105.473 109.1592 57.98946 -105.473 110.717 61.16543 -107.473 110.717 61.16543 -105.473 112.5072 63.36082 -107.473 112.5072 63.36082 -107.473 109.6787 66.18926 -105.473 107.5287 63.59279 -107.473 107.5287 63.59279 -107.473 105.9005 60.64096 -105.473 105.9005 60.64096 -107.473 104.6842 56.61008 -105.473 104.6842 56.61008 -105.473 104.5067 51.56583 -107.473 104.5067 51.56583 -107.473 106.0734 45.89672 -105.473 106.0734 45.89672 -107.473 108.2775 42.30936 -105.473 108.2775 42.30936 -105.473 109.6787 66.18926 -107.473 111.9292 38.82497 -105.473 111.9292 38.82497 -107.473 116.4048 36.49143 -105.473 116.4048 36.49143 -107.473 119.6743 35.66993 -105.473 119.6743 35.66993 -107.473 123.8821 35.5219 -105.473 123.8821 35.5219 -105.473 128.0092 36.3554 -107.473 128.0092 36.3554 -105.473 131.1005 37.70002 -107.473 131.1005 37.70002 -107.473 135.1346 40.7334 -105.473 135.1346 40.7334 -107.473 133.7203 42.14762 -105.473 135.2803 43.9602 -107.473 135.2803 43.9602 -107.473 137.2267 47.43066 -105.473 137.2267 47.43066 -107.473 138.3458 52.06684 -105.473 138.3458 52.06684 -107.473 138.0487 56.82693 -105.473 138.0487 56.82693 -107.473 136.7345 60.58264 -105.473 136.7345 60.58264 -107.473 135.0394 63.28044 -105.473 135.0394 63.28044 -105.473 133.7203 42.14762 -107.473 130.9192 67.00892 -105.473 130.9192 67.00892 -107.473 128.066 68.42703 -105.473 128.066 68.42703 -107.473 124.1981 69.36073 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117.6122 70.81106 -105.473 117.1222 68.56346 -105.473 120.9313 71.40077 -105.473 121.0122 69.40045 -105.473 113.7129 69.22264 -105.473 112.2756 65.8453 -105.473 109.6787 66.18926 -105.473 129.9713 69.79463 -105.473 131.5839 66.56777 -105.473 133.5587 67.5905 -105.473 132.8842 68.09769 -105.473 132.8433 65.58888 -105.473 124.3022 71.36125 -105.473 126.5479 68.91614 -105.473 109.5331 62.96245 -105.473 107.5287 63.59279 -105.473 105.9005 60.64096 -105.473 107.9058 60.22322 -105.473 106.8534 57.21585 -105.473 104.6842 56.61008 -105.473 106.4179 54.05959 -105.473 104.5067 51.56583 -105.473 106.7647 50.09573 -105.473 108.0789 46.34002 -105.473 106.0734 45.89672 -105.473 110.2792 43.02473 -105.473 109.3839 41.03528 -105.473 136.5359 64.61331 -105.473 135.0394 63.28044 -105.473 139.0767 60.25204 -105.473 136.7345 60.58264 -105.473 138.0487 56.82693 -105.473 140.1981 56.19375 -105.473 138.3458 52.06684 -105.473 140.1291 50.31258 -105.473 137.2267 47.43066 -105.473 138.9128 46.2817 -105.473 135.2803 43.9602 -105.473 136.7935 42.64365 -105.473 116.7473 38.49563 -105.473 118.0203 36.00397 -105.473 114.842 37.12803 -105.473 120.6152 37.56193 -105.473 111.9292 38.82497 -105.473 112.5875 40.82863 -105.473 133.8868 39.59747 -105.473 132.5377 41.07736 -105.473 131.1005 37.70002 -105.473 130.5789 39.70573 -105.473 123.8821 35.5219 -105.473 126.1613 37.90808 -105.473 128.0092 36.3554 -107.473 117.6122 70.81106 -107.473 117.1222 68.56346 -107.473 121.0122 69.40045 -107.473 120.9313 71.40077 -107.473 113.7129 69.22264 -107.473 109.6787 66.18926 -107.473 112.2756 65.8453 -107.473 129.9713 69.79463 -107.473 130.9192 67.00892 -107.473 128.066 68.42703 -107.473 133.5587 67.5905 -107.473 124.3022 71.36125 -107.473 124.1981 69.36073 -107.473 109.5331 62.96245 -107.473 107.5287 63.59279 -107.473 105.9005 60.64096 -107.473 107.9058 60.22322 -107.473 106.8534 57.21585 -107.473 104.6842 56.61008 -107.473 106.4179 54.05959 -107.473 104.5067 51.56583 -107.473 106.7647 50.09573 -107.473 108.0789 46.34002 -107.473 106.0734 45.89672 -107.473 110.2792 43.02473 -107.473 109.3839 41.03528 -107.473 136.5359 64.61331 -107.473 135.0394 63.28044 -107.473 139.0767 60.25204 -107.473 136.7345 60.58264 -107.473 138.0487 56.82693 -107.473 140.1981 56.19375 -107.473 138.3458 52.06684 -107.473 140.1291 50.31258 -107.473 137.2267 47.43066 -107.473 138.9128 46.2817 -107.473 135.2803 43.9602 -107.473 136.7935 42.64365 -107.473 133.7203 42.14762 -107.473 135.1346 40.7334 -107.473 116.7473 38.49563 -107.473 118.0203 36.00397 -107.473 114.842 37.12803 -107.473 120.6152 37.56193 -107.473 111.9292 38.82497 -107.473 112.5875 40.82863 -107.473 133.8868 39.59747 -107.473 133.1423 41.59774 -107.473 131.1005 37.70002 -107.473 130.5789 39.70573 -107.473 123.8821 35.5219 -107.473 126.1613 37.90808 -107.473 128.0092 36.3554 -107.473 111.093 64.77504 -105.473 109.5331 62.96245 -107.473 109.5331 62.96245 -105.473 107.9058 60.22322 -107.473 107.9058 60.22322 -105.473 106.8534 57.21585 -107.473 106.8534 57.21585 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115.303 78.71176 -107.473 114.4919 78.16983 -107.473 114.8709 78.48075 -105.473 114.8709 78.48075 -105.473 114.4919 78.16983 -107.473 135.1346 40.7334 -105.473 138.3817 45.16685 -107.473 138.3817 45.16685 -105.473 139.4607 47.70264 -107.473 139.4607 47.70264 -107.473 140.4034 53.11654 -105.473 140.4034 53.11654 -107.473 140.2451 55.86777 -105.473 140.2451 55.86777 -107.473 138.6877 61.13783 -105.473 138.6877 61.13783 -105.473 135.6128 65.6924 -107.473 135.6128 65.6924 -105.473 135.1346 40.7334 -107.473 133.5909 67.56496 -105.473 133.5909 67.56496 -107.473 130.0832 69.74234 -105.473 130.0832 69.74234 -107.473 126.1716 71.0632 -105.473 126.1716 71.0632 -107.473 122.0619 71.45803 -105.473 122.0619 71.45803 -107.473 119.3187 71.19448 -105.473 119.3187 71.19448 -105.473 114.1122 69.43636 -107.473 114.1122 69.43636 -107.473 109.6787 66.18926 -105.473 109.6787 66.18926 -105.473 94.38001 37.54338 -105.473 94.63892 37.74203 -107.473 94.07862 37.41851 -107.473 93.75501 37.37591 -105.473 93.75501 37.37591 -105.473 94.07862 37.41851 -107.473 94.38001 37.54338 -107.473 94.63892 37.74203 -105.473 93.13001 37.54338 -105.473 93.43152 37.41851 -107.473 93.43152 37.41851 -107.473 93.13001 37.54338 -105.473 92.8711 37.74203 -107.473 92.8711 37.74203 -105.473 110.5875 22.57956 -105.473 110.8782 22.79593 -107.473 110.8782 22.79593 -107.473 110.5875 22.57956 -107.473 110.2471 22.45564 -105.473 110.2471 22.45564 -105.473 109.8854 22.43457 -107.473 109.8854 22.43457 -105.473 132.7584 21.64488 -105.473 132.9253 21.78494 -107.473 132.9253 21.78494 -107.473 132.7584 21.64488 -105.473 103.4377 78.0141 -105.473 103.7052 78.21767 -107.473 103.4377 78.0141 -107.473 103.1257 77.88917 -105.473 103.1257 77.88917 -105.473 102.7916 77.85191 -107.473 102.7916 77.85191 -107.473 102.4597 77.90502 -105.473 102.4597 77.90502 -107.473 102.1539 78.04467 -105.473 102.1539 78.04467 -107.473 103.7052 78.21767 -107.473 101.8964 78.26073 -105.473 101.8964 78.26073 -107.473 101.7058 78.53761 -105.473 101.7058 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69.76739 -105.473 153.7203 58.64879 -105.473 161.0928 70.30352 -105.473 154.7471 58.80474 -105.473 153.4532 58.41367 -105.473 153.2633 58.11285 -105.473 141.5101 69.29841 -105.473 141.2792 68.86619 -105.473 140.9683 68.48735 -105.473 140.5894 68.17644 -105.473 153.1658 57.77069 -105.473 138.6877 61.13783 -105.473 137.3251 63.53315 -105.473 140.2451 55.86777 -105.473 140.4034 53.11654 -105.473 140.3242 51.73992 -105.473 144.3907 49.62408 -105.473 143.2688 48.7033 -105.473 143.5797 49.08214 -105.473 143.9585 49.39305 -105.473 143.0377 48.27109 -105.473 144.8597 49.76634 -105.473 145.3474 49.81438 -105.473 145.8352 49.76634 -105.473 142.8955 47.8021 -105.473 139.4607 47.70264 -105.473 142.8955 46.82665 -105.473 143.5797 45.54661 -105.473 143.2688 45.92545 -105.473 136.9283 42.82548 -105.473 143.9585 45.2357 -105.473 142.8474 47.31438 -105.473 153.1686 57.41492 -105.473 155.0719 58.65951 -105.473 155.3426 58.42866 -105.473 155.9449 57.25679 -105.473 153.2716 57.07435 -105.473 146.3041 49.62408 -105.473 146.7363 49.39305 -105.473 147.1152 49.08214 -105.473 147.4261 48.7033 -105.473 167.4836 62.63737 -105.473 150.6156 36.76662 -105.473 162.8679 41.49623 -105.473 150.3762 37.02988 -105.473 147.6571 48.27109 -105.473 147.7994 47.8021 -105.473 147.7994 46.82665 -105.473 147.8474 47.31438 -105.473 147.6571 46.35767 -105.473 147.4261 45.92545 -105.473 162.8358 31.51569 -105.473 145.3474 44.81438 -105.473 144.8597 44.86241 -105.473 147.1152 45.54661 -105.473 146.7363 45.2357 -105.473 146.3041 45.00468 -105.473 145.8352 44.86241 -105.473 144.3907 45.00468 -105.473 148.5131 36.71657 -105.473 148.7395 36.99092 -105.473 149.0342 37.19034 -105.473 143.0377 46.35767 -105.473 149.7288 37.30714 -105.473 150.0724 37.21506 -105.473 150.771 36.44659 -105.473 150.83 36.09573 -105.473 149.373 37.29867 -105.473 150.5381 34.81085 -105.473 135.1346 40.7334 -105.473 147.8553 34.45765 -105.473 108.1129 36.66754 -105.473 111.2224 39.3577 -105.473 107.9226 37.62425 -105.473 107.9226 35.71083 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-105.473 131.6232 23.84679 -105.473 131.3245 23.69276 -105.473 133.2538 22.36449 -105.473 133.1289 22.05243 -105.473 131.9684 21.09168 -105.473 132.9253 21.78494 -105.473 139.2709 10.66263 -107.473 137.1218 71.64405 -107.473 137.4327 72.02288 -107.473 136.8907 71.21183 -105.473 136.8907 71.21183 -105.473 136.7485 70.74285 -107.473 136.7485 70.74285 -105.473 137.1218 71.64405 -107.473 136.7004 70.25511 -105.473 136.7004 70.25511 -105.473 136.7485 69.76739 -107.473 136.7485 69.76739 -107.473 137.1218 68.86619 -107.473 136.8907 69.29841 -105.473 136.8907 69.29841 -105.473 137.1218 68.86619 -105.473 137.4327 68.48735 -107.473 137.4327 68.48735 -105.473 137.4327 72.02288 -107.473 137.8115 68.17644 -105.473 137.8115 68.17644 -105.473 138.2438 67.94542 -107.473 138.2438 67.94542 -107.473 139.2004 67.75511 -107.473 138.7128 67.80316 -105.473 138.7128 67.80316 -105.473 139.2004 67.75511 -107.473 140.1572 67.94542 -107.473 139.6882 67.80316 -105.473 139.6882 67.80316 -105.473 140.1572 67.94542 -107.473 140.9683 68.48735 -107.473 140.5894 68.17644 -105.473 140.5894 68.17644 -105.473 140.9683 68.48735 -107.473 143.2688 48.7033 -107.473 143.5797 49.08214 -107.473 142.8955 47.8021 -107.473 143.0377 48.27109 -105.473 143.0377 48.27109 -105.473 142.8955 47.8021 -105.473 143.2688 48.7033 -107.473 142.8955 46.82665 -107.473 142.8474 47.31438 -105.473 142.8474 47.31438 -105.473 142.8955 46.82665 -107.473 143.0377 46.35767 -105.473 143.0377 46.35767 -105.473 143.2688 45.92545 -107.473 143.2688 45.92545 -105.473 143.5797 45.54661 -107.473 143.5797 45.54661 -105.473 143.5797 49.08214 -107.473 144.3907 45.00468 -107.473 143.9585 45.2357 -105.473 143.9585 45.2357 -105.473 144.3907 45.00468 -107.473 145.3474 44.81438 -107.473 144.8597 44.86241 -105.473 144.8597 44.86241 -105.473 145.3474 44.81438 -107.473 146.3041 45.00468 -107.473 145.8352 44.86241 -105.473 145.8352 44.86241 -105.473 146.3041 45.00468 -107.473 147.1152 45.54661 -107.473 146.7363 45.2357 -105.473 146.7363 45.2357 -105.473 147.1152 45.54661 -107.473 126.475 31.90952 -107.473 126.7859 32.28836 -107.473 126.1017 31.00832 -107.473 126.2439 31.4773 -105.473 126.2439 31.4773 -105.473 126.1017 31.00832 -105.473 126.475 31.90952 -107.473 126.1017 30.03286 -107.473 126.0536 30.52059 -105.473 126.0536 30.52059 -105.473 126.1017 30.03286 -107.473 126.475 29.13166 -107.473 126.2439 29.56388 -105.473 126.2439 29.56388 -105.473 126.475 29.13166 -105.473 126.7859 28.75282 -107.473 126.7859 28.75282 -105.473 126.7859 32.28836 -107.473 127.5969 28.21089 -107.473 127.1647 28.44192 -105.473 127.1647 28.44192 -105.473 127.5969 28.21089 -107.473 128.5536 28.02059 -107.473 128.0659 28.06863 -105.473 128.0659 28.06863 -105.473 128.5536 28.02059 -107.473 129.5104 28.21089 -107.473 129.0414 28.06863 -105.473 129.0414 28.06863 -105.473 129.5104 28.21089 -107.473 130.3214 28.75282 -107.473 129.9426 28.44192 -105.473 129.9426 28.44192 -105.473 130.3214 28.75282 -107.473 103.5342 38.05647 -107.473 103.8451 38.43531 -107.473 103.3032 37.62425 -105.473 103.3032 37.62425 -105.473 103.1609 37.15527 -107.473 103.1609 37.15527 -105.473 103.5342 38.05647 -107.473 103.1129 36.66754 -105.473 103.1129 36.66754 -105.473 103.1609 36.17982 -107.473 103.1609 36.17982 -107.473 103.5342 35.27862 -107.473 103.3032 35.71083 -105.473 103.3032 35.71083 -105.473 103.5342 35.27862 -105.473 103.8451 34.89978 -107.473 103.8451 34.89978 -105.473 103.8451 38.43531 -107.473 104.224 34.58887 -105.473 104.224 34.58887 -105.473 104.6563 34.35784 -107.473 104.6563 34.35784 -107.473 105.6129 34.16754 -107.473 105.1251 34.21558 -105.473 105.1251 34.21558 -105.473 105.6129 34.16754 -107.473 106.5696 34.35784 -107.473 106.1006 34.21558 -105.473 106.1006 34.21558 -105.473 106.5696 34.35784 -107.473 107.3806 34.89978 -107.473 107.0018 34.58887 -105.473 107.0018 34.58887 -105.473 107.3806 34.89978 -107.473 97.38733 60.99721 -107.473 97.69824 61.37605 -107.473 97.01404 60.09601 -107.473 97.15625 60.56499 -105.473 97.15625 60.56499 -105.473 97.01404 60.09601 -105.473 97.38733 60.99721 -107.473 96.96595 59.60828 -105.473 96.96595 59.60828 -105.473 97.01404 59.12055 -107.473 97.01404 59.12055 -107.473 97.38733 58.21936 -107.473 97.15625 58.65157 -105.473 97.15625 58.65157 -105.473 97.38733 58.21936 -105.473 97.69824 57.84051 -107.473 97.69824 57.84051 -105.473 97.69824 61.37605 -107.473 98.50928 57.29858 -107.473 98.07703 57.52961 -105.473 98.07703 57.52961 -105.473 98.50928 57.29858 -107.473 98.97827 57.15632 -105.473 98.97827 57.15632 -105.473 99.46595 57.10828 -107.473 99.46595 57.10828 -107.473 99.95374 57.15632 -105.473 99.95374 57.15632 -105.473 100.4226 57.29858 -107.473 100.4226 57.29858 -107.473 101.2338 57.84051 -107.473 100.8549 57.52961 -105.473 100.8549 57.52961 -105.473 101.2338 57.84051 -107.473 114.181 77.791 -107.473 114.4919 78.16983 -107.473 113.8077 76.8898 -107.473 113.9501 77.35878 -105.473 113.9501 77.35878 -105.473 113.8077 76.8898 -105.473 114.181 77.791 -107.473 113.8077 75.91434 -107.473 113.7598 76.40207 -105.473 113.7598 76.40207 -105.473 113.8077 75.91434 -107.473 114.181 75.01314 -107.473 113.9501 75.44536 -105.473 113.9501 75.44536 -105.473 114.181 75.01314 -105.473 114.4919 74.6343 -107.473 114.4919 74.6343 -105.473 114.4919 78.16983 -107.473 115.303 74.09237 -107.473 114.8709 74.3234 -105.473 114.8709 74.3234 -105.473 115.303 74.09237 -107.473 116.2598 73.90207 -107.473 115.772 73.95011 -105.473 115.772 73.95011 -105.473 116.2598 73.90207 -107.473 117.2164 74.09237 -107.473 116.7474 73.95011 -105.473 116.7474 73.95011 -105.473 117.2164 74.09237 -107.473 118.0275 74.6343 -107.473 117.6487 74.3234 -105.473 117.6487 74.3234 -105.473 118.0275 74.6343 -107.473 109.6787 66.18926 -105.473 106.4316 61.75581 -107.473 106.4316 61.75581 -107.473 104.9619 57.89766 -105.473 104.9619 57.89766 -105.473 104.4891 55.18274 -107.473 104.4891 55.18274 -107.473 104.5682 51.05489 -105.473 104.5682 51.05489 -107.473 105.5858 47.05365 -105.473 105.5858 47.05365 -107.473 107.4883 43.38951 -105.473 107.4883 43.38951 -105.473 109.2006 41.23026 -107.473 109.2006 41.23026 -105.473 109.6787 66.18926 -107.473 113.5064 37.81572 -105.473 113.5064 37.81572 -105.473 117.3054 36.19931 -107.473 117.3054 36.19931 -107.473 122.7515 35.46463 -105.473 122.7515 35.46463 -105.473 128.1654 36.40737 -107.473 128.1654 36.40737 -105.473 130.7012 37.4863 -107.473 130.7012 37.4863 -107.473 135.1346 40.7334 -105.473 135.1346 40.7334 -105.435 89.36927 61.53802 -105.3266 89.1482 61.68152 -105.435 76.80042 60.43839 -105.473 89.5929 61.36552 -105.3266 76.69348 60.59186 -105.473 76.90979 60.25589 -107.473 80.29322 50.86629 -105.473 80.29322 50.86629 -107.473 76.90979 60.25589 -105.473 76.90979 60.25589 -105.473 93.22473 40.92401 -107.473 93.22473 40.92401 -105.473 80.29322 50.86629 -107.473 80.29322 50.86629 -105.473 94.63892 39.50979 -107.473 94.63892 39.50979 -107.473 93.22473 40.92401 -105.473 93.22473 40.92401 -105.473 94.83753 39.25091 -105.473 94.63892 39.50979 -107.473 94.9624 38.94944 -107.473 95.00501 38.62591 -105.473 95.00501 38.62591 -105.473 94.9624 38.94944 -107.473 94.83753 39.25091 -107.473 94.63892 39.50979 -105.473 94.9624 38.30239 -107.473 94.9624 38.30239 -107.473 94.83753 38.00091 -105.473 94.83753 38.00091 -105.473 94.63892 37.74203 -107.473 94.63892 37.74203 -105.435 91.90699 38.41243 -105.3266 91.64539 38.38025 -105.435 82.98548 29.4909 -105.473 92.18921 38.42401 -105.3266 82.80493 29.53974 -105.473 83.18665 29.42146 -107.473 91.81397 24.40342 -105.473 91.81397 24.40342 -105.473 83.18665 29.42146 -107.473 83.18665 29.42146 -107.473 108.1108 25.09937 -105.473 108.1108 25.09937 -105.473 91.81397 24.40342 -107.473 91.81397 24.40342 -105.473 108.1108 25.09937 -105.473 110.1033 24.92506 -107.473 110.1033 24.92506 -107.473 108.1108 25.09937 -105.473 110.4473 24.84482 -105.473 110.1033 24.92506 -107.473 110.4473 24.84482 -107.473 110.7553 24.67151 -105.473 110.7553 24.67151 -107.473 111.0023 24.41895 -105.473 111.0023 24.41895 -107.473 110.1033 24.92506 -107.473 111.1689 24.10734 -105.473 111.1689 24.10734 -107.473 111.2416 23.76157 -105.473 111.2416 23.76157 -105.473 111.2146 23.40926 -107.473 111.2146 23.40926 -107.473 111.0902 23.07858 -105.473 111.0902 23.07858 -105.473 110.8782 22.79593 -107.473 110.8782 22.79593 -105.435 108.7158 22.32838 -105.3266 108.5361 22.13558 -105.435 107.6162 9.759443 -105.473 108.9246 22.51863 -105.3266 107.4464 9.680788 -105.473 107.8149 9.835554 -107.473 117.6494 11.53707 -105.473 117.6494 11.53707 -107.473 107.8149 9.835554 -105.473 107.8149 9.835554 -107.473 129.6862 22.54561 -105.473 129.6862 22.54561 -105.473 117.6494 11.53707 -107.473 117.6494 11.53707 -107.473 131.3245 23.69276 -105.473 131.3245 23.69276 -107.473 129.6862 22.54561 -105.473 129.6862 22.54561 -105.473 131.6232 23.84679 -105.473 131.3245 23.69276 -107.473 131.6232 23.84679 -107.473 131.9523 23.91563 -105.473 131.9523 23.91563 -105.473 132.2877 23.89431 -107.473 132.2877 23.89431 -107.473 132.6053 23.78437 -105.473 132.6053 23.78437 -107.473 132.8822 23.59376 -105.473 132.8822 23.59376 -107.473 131.3245 23.69276 -107.473 133.0983 23.33626 -105.473 133.0983 23.33626 -107.473 133.2379 23.03049 -105.473 133.2379 23.03049 -107.473 133.291 22.69857 -105.473 133.291 22.69857 -105.473 133.2538 22.36449 -107.473 133.2538 22.36449 -107.473 133.1289 22.05243 -105.473 133.1289 22.05243 -105.473 132.9253 21.78494 -107.473 132.9253 21.78494 -105.435 131.9308 20.81178 -105.3266 131.917 20.54858 -105.435 139.1675 10.47658 -105.473 131.9684 21.09168 -105.3266 139.0881 10.30724 -105.473 139.2709 10.66263 -107.473 145.7108 18.28755 -105.473 145.7108 18.28755 -105.473 139.2709 10.66263 -107.473 139.2709 10.66263 -107.473 147.8553 34.45765 -105.473 147.8553 34.45765 -107.473 146.5436 19.4638 -105.473 146.5436 19.4638 -105.473 148.3729 36.3895 -107.473 148.3729 36.3895 -107.473 147.8553 34.45765 -105.473 147.8553 34.45765 -105.473 148.5131 36.71657 -105.473 148.3729 36.3895 -107.473 148.5131 36.71657 -107.473 148.7395 36.99092 -105.473 148.7395 36.99092 -105.473 149.0342 37.19034 -107.473 149.0342 37.19034 -107.473 149.373 37.29867 -105.473 149.373 37.29867 -107.473 149.7288 37.30714 -105.473 149.7288 37.30714 -107.473 148.3729 36.3895 -107.473 150.0724 37.21506 -105.473 150.0724 37.21506 -107.473 150.3762 37.02988 -105.473 150.3762 37.02988 -107.473 150.6156 36.76662 -105.473 150.6156 36.76662 -105.473 150.771 36.44659 -107.473 150.771 36.44659 -107.473 150.83 36.09573 -105.473 150.83 36.09573 -105.473 150.7877 35.74246 -107.473 150.7877 35.74246 -105.435 150.6892 34.57227 -105.3266 150.8479 34.36182 -105.435 162.8763 31.30676 -105.473 150.5381 34.81085 -105.3266 162.9243 31.12597 -105.473 162.8358 31.51569 -107.473 162.8679 41.49623 -105.473 162.8679 41.49623 -107.473 162.8358 31.51569 -105.473 162.8358 31.51569 -107.473 154.1168 55.26173 -105.473 154.1168 55.26173 -105.473 162.8679 41.49623 -107.473 162.8679 41.49623 -107.473 153.2716 57.07435 -105.473 153.2716 57.07435 -105.473 154.1168 55.26173 -107.473 154.1168 55.26173 -105.473 153.1686 57.41492 -105.473 153.2716 57.07435 -107.473 153.1686 57.41492 -107.473 153.1658 57.77069 -105.473 153.1658 57.77069 -105.473 153.2633 58.11285 -107.473 153.2633 58.11285 -107.473 153.4532 58.41367 -105.473 153.4532 58.41367 -107.473 153.7203 58.64879 -105.473 153.7203 58.64879 -107.473 153.2716 57.07435 -107.473 154.0427 58.79916 -105.473 154.0427 58.79916 -107.473 154.3945 58.85258 -105.473 154.3945 58.85258 -107.473 154.7471 58.80474 -105.473 154.7471 58.80474 -105.473 155.0719 58.65951 -107.473 155.0719 58.65951 -107.473 155.3426 58.42866 -105.473 155.3426 58.42866 -105.473 155.5373 58.13089 -107.473 155.5373 58.13089 -105.435 156.2141 57.17116 -105.3266 156.4708 57.11193 -105.435 167.6489 62.50331 -105.473 155.9449 57.25679 -105.3266 167.8019 62.39566 -105.473 167.4836 62.63737 -107.473 161.0928 70.30352 -105.473 161.0928 70.30352 -107.473 167.4836 62.63737 -105.473 167.4836 62.63737 -105.473 145.5408 75.22338 -107.473 145.5408 75.22338 -105.473 161.0928 70.30352 -107.473 161.0928 70.30352 -105.473 143.7281 76.06862 -107.473 143.7281 76.06862 -107.473 145.5408 75.22338 -105.473 145.5408 75.22338 -105.473 143.4304 76.26334 -105.473 143.7281 76.06862 -107.473 143.4304 76.26334 -107.473 143.1996 76.53407 -105.473 143.1996 76.53407 -105.473 143.0543 76.85887 -107.473 143.0543 76.85887 -107.473 143.0065 77.21142 -105.473 143.0065 77.21142 -107.473 143.0599 77.56317 -105.473 143.0599 77.56317 -107.473 143.7281 76.06862 -107.473 143.2102 77.88562 -105.473 143.2102 77.88562 -107.473 143.4453 78.15265 -105.473 143.4453 78.15265 -107.473 143.7462 78.34263 -105.473 143.7462 78.34263 -105.473 144.0884 78.44015 -107.473 144.0884 78.44015 -107.473 144.4441 78.43733 -105.473 144.4441 78.43733 -105.473 144.7847 78.33439 -107.473 144.7847 78.33439 -105.435 145.92 78.03418 -105.3266 146.1548 78.15389 -105.435 151.2522 89.46903 -105.473 145.6588 77.92679 -105.3266 151.4385 89.48488 -105.473 151.0394 89.46547 -107.473 141.2161 91.23015 -105.473 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530 0 0 531 1 1 532 1 2 2 2 3 3 3 4 4 3 5 68 4 6 71 5 7 70 5 8 5 6 9 8 7 10 7 7 11 1873 8 12 1890 9 13 1879 8 14 519 10 15 520 11 16 521 11 17 19 12 18 20 13 19 18 12 20 662 14 21 659 15 22 660 15 23 493 16 24 490 17 25 491 17 26 36 16 27 37 18 28 35 16 29 39 19 30 38 18 31 40 19 32 35 16 33 34 17 34 36 16 35 675 20 36 677 21 37 676 21 38 47 22 39 48 23 40 46 22 41 508 24 42 505 23 43 506 23 44 207 25 45 210 26 46 209 26 47 514 27 48 517 28 49 515 27 50 6 6 51 4 3 52 3 3 53 62 10 54 63 11 55 64 11 56 69 4 57 65 29 58 66 29 59 77 30 60 78 31 61 79 31 62 3337 32 63 3338 33 64 3336 34 65 103 35 66 101 35 67 102 35 68 175 36 69 177 36 70 176 36 71 1872 37 72 1870 38 73 1871 38 74 267 39 75 264 40 76 266 39 77 33 17 78 32 41 79 34 17 80 426 42 81 425 43 82 440 43 83 205 14 84 202 44 85 203 44 86 499 45 87 502 46 88 501 46 89 210 26 90 212 47 91 209 26 92 213 48 93 216 49 94 215 49 95 674 20 96 672 49 97 673 49 98 1 2 99 11 50 100 0 50 101 738 51 102 736 52 103 737 53 104 304 54 105 306 55 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685 115 285 687 116 286 686 115 287 57 27 288 67 117 289 56 117 290 789 118 291 787 118 292 788 118 293 3873 119 294 3870 119 295 3875 119 296 3571 120 297 3572 121 298 3570 122 299 2835 123 300 2833 124 301 2834 125 302 855 35 303 863 35 304 854 35 305 3191 126 306 3187 127 307 3192 128 308 821 129 309 822 129 310 829 129 311 715 113 312 714 130 313 716 113 314 3449 131 315 3447 132 316 3448 133 317 902 134 318 904 135 319 901 136 320 905 137 321 901 136 322 899 137 323 907 138 324 909 139 325 906 138 326 911 140 327 913 141 328 910 142 329 914 143 330 913 141 331 912 141 332 908 144 333 910 142 334 909 139 335 903 145 336 906 138 337 904 135 338 918 146 339 920 147 340 917 146 341 922 148 342 924 149 343 921 149 344 919 147 345 922 148 346 920 147 347 926 150 348 928 151 349 925 152 350 928 151 351 930 153 352 925 152 353 921 149 354 927 150 355 926 150 356 915 143 357 918 146 358 917 146 359 936 134 360 938 135 361 935 135 362 933 154 363 937 134 364 936 134 365 941 138 366 943 144 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167 450 1003 134 451 1001 167 452 1009 138 453 1011 144 454 1008 138 455 1013 142 456 1015 168 457 1012 142 458 1016 162 459 1015 168 460 1014 169 461 1010 144 462 1012 142 463 1011 144 464 1005 135 465 1008 138 466 1006 135 467 1018 170 468 1001 167 469 1002 170 470 1020 171 471 1022 147 472 1019 171 473 1024 148 474 1026 149 475 1023 149 476 1021 147 477 1024 148 478 1022 147 479 1028 172 480 1030 173 481 1027 173 482 1030 173 483 1032 99 484 1027 173 485 1023 149 486 1029 174 487 1028 172 488 1017 162 489 1020 171 490 1019 171 491 1038 136 492 1040 135 493 1037 135 494 1035 137 495 1039 136 496 1038 136 497 1043 138 498 1045 144 499 1042 144 500 1047 140 501 1049 175 502 1046 141 503 1050 143 504 1046 141 505 1049 175 506 1042 144 507 1048 140 508 1047 140 509 1037 135 510 1044 138 511 1043 138 512 1054 176 513 1056 147 514 1053 177 515 1058 158 516 1060 149 517 1057 149 518 1053 177 519 1059 158 520 1058 158 521 1062 150 522 1064 152 523 1061 152 524 1061 152 525 1067 178 526 1066 178 527 1057 149 528 1063 150 529 1062 150 530 1051 143 531 1055 176 532 1054 176 533 1072 134 534 1074 135 535 1071 134 536 1075 179 537 1071 134 538 1069 167 539 1077 138 540 1079 144 541 1076 138 542 1081 142 543 1083 169 544 1080 142 545 1082 169 546 1085 180 547 1083 169 548 1078 144 549 1080 142 550 1079 144 551 1073 135 552 1076 138 553 1074 135 554 1088 165 555 1090 181 556 1087 165 557 1092 148 558 1094 149 559 1091 148 560 1089 181 561 1091 148 562 1090 181 563 1096 150 564 1098 173 565 1095 173 566 1095 173 567 1101 182 568 1100 182 569 1093 149 570 1096 150 571 1094 149 572 1085 180 573 1088 165 574 1087 165 575 2056 183 576 2054 184 577 2055 184 578 1127 185 579 1129 186 580 1128 185 581 2065 187 582 2068 188 583 2066 187 584 1112 189 585 1111 190 586 1113 189 587 1134 191 588 1136 192 589 1133 193 590 1131 194 591 1133 193 592 1136 192 593 1140 195 594 1142 196 595 1139 197 596 1135 191 597 1141 195 598 1140 195 599 1145 198 600 1147 199 601 1148 198 602 1148 198 603 1150 200 604 1145 198 605 1149 200 606 1151 201 607 1150 200 608 1157 202 609 1168 203 610 1159 202 611 1159 202 612 1161 204 613 1157 202 614 1163 205 615 1165 206 616 1162 207 617 1164 208 618 1167 209 619 1165 206 620 1160 204 621 1162 207 622 1161 204 623 1170 210 624 1166 209 625 1169 211 626 1169 211 627 1172 212 628 1170 210 629 1171 212 630 1174 213 631 1172 212 632 1176 214 633 1178 215 634 1175 216 635 1173 213 636 1175 216 637 1174 213 638 1181 217 639 1188 218 640 1183 219 641 1183 219 642 1185 220 643 1181 217 644 1184 220 645 1187 221 646 1185 220 647 1190 222 648 1186 221 649 1189 222 650 1189 222 651 1192 223 652 1190 222 653 1194 224 654 1196 225 655 1193 226 656 1191 223 657 1193 226 658 1192 223 659 1201 227 660 1203 228 661 1199 229 662 1205 230 663 1207 231 664 1204 232 665 1203 228 666 1205 230 667 1204 232 668 1207 231 669 1208 233 670 1209 234 671 1212 235 672 1208 233 673 1211 236 674 1212 235 675 1213 237 676 1214 237 677 1214 237 678 1215 238 679 1216 238 680 1218 239 681 1220 240 682 1217 241 683 1219 242 684 1222 243 685 1220 240 686 1216 238 687 1218 239 688 1217 241 689 1225 244 690 1228 245 691 1229 246 692 1231 247 693 1233 248 694 1230 247 695 1235 249 696 1237 250 697 1234 251 698 1233 248 699 1237 250 700 1236 250 701 1228 245 702 1230 247 703 1229 246 704 1238 252 705 1225 244 706 1226 253 707 1240 254 708 1242 255 709 1239 256 710 1241 257 711 1244 258 712 1242 255 713 1245 259 714 1247 260 715 1248 260 716 1243 261 717 1245 259 718 1244 258 719 1240 254 720 1235 249 721 1234 251 722 1253 262 723 1255 263 724 1251 264 725 1256 265 726 1258 266 727 1259 266 728 1260 267 729 1262 268 730 1263 269 731 1258 266 732 1260 267 733 1259 266 734 1254 270 735 1256 265 736 1255 263 737 1266 271 738 1268 272 739 1265 273 740 1267 272 741 1270 274 742 1268 272 743 1272 275 744 1274 276 745 1271 275 746 1270 274 747 1272 275 748 1271 275 749 1266 271 750 1263 269 751 1262 268 752 1280 277 753 1282 278 754 1277 279 755 1284 280 756 1286 281 757 1283 282 758 1282 278 759 1284 280 760 1283 282 761 1285 283 762 1288 284 763 1286 281 764 1289 285 765 1288 284 766 1287 286 767 1291 287 768 1290 288 769 1289 285 770 1291 287 771 1294 289 772 1292 290 773 1296 291 774 1298 292 775 1295 293 776 1297 292 777 1300 294 778 1298 292 779 1294 289 780 1296 291 781 1295 293 782 443 295 783 442 296 784 444 295 785 1307 297 786 1304 298 787 1306 298 788 3525 299 789 3524 300 790 3534 301 791 1317 302 792 1320 303 793 1321 304 794 1322 305 795 1324 306 796 1325 307 797 1320 303 798 1322 305 799 1321 304 800 1324 306 801 1327 308 802 1325 307 803 1329 309 804 1327 308 805 1326 310 806 1329 309 807 1332 311 808 1330 312 809 1331 313 810 1334 314 811 1332 311 812 1335 315 813 1337 316 814 1338 317 815 1338 317 816 1341 318 817 1340 319 818 1334 314 819 1336 320 820 1335 315 821 1349 321 822 1351 322 823 1348 323 824 3669 324 825 3672 325 826 3671 325 827 1346 326 828 1345 327 829 1344 328 830 1366 329 831 1362 330 832 1365 331 833 1369 332 834 1359 333 835 1360 334 836 3359 335 837 3362 336 838 3363 337 839 3342 338 840 3347 339 841 3350 340 842 1384 341 843 1378 342 844 1383 343 845 1390 344 846 1392 345 847 1389 346 848 1394 347 849 1395 348 850 1396 349 851 1397 350 852 1400 351 853 1401 352 854 1403 353 855 1405 354 856 1402 355 857 1407 356 858 1409 357 859 1406 358 860 1405 354 861 1407 356 862 1406 358 863 1401 352 864 1403 353 865 1402 355 866 1412 359 867 1414 360 868 1411 361 869 1413 362 870 1416 363 871 1414 360 872 1417 364 873 1419 365 874 1420 366 875 1415 367 876 1417 364 877 1416 363 878 1419 365 879 1421 368 880 1420 366 881 1409 357 882 1412 359 883 1411 361 884 1433 369 885 1432 370 886 1431 371 887 1426 372 888 1429 373 889 1427 374 890 1439 375 891 1441 376 892 1437 377 893 1443 378 894 1445 379 895 1442 380 896 1446 381 897 1448 382 898 1449 383 899 1445 379 900 1447 384 901 1446 381 902 1440 385 903 1442 380 904 1441 376 905 1451 386 906 1453 387 907 1454 388 908 1453 387 909 1456 389 910 1454 388 911 1458 390 912 1460 391 913 1457 392 914 1459 393 915 1461 394 916 1460 391 917 1455 395 918 1457 392 919 1456 389 920 1451 386 921 1448 382 922 1452 386 923 1465 396 924 1467 397 925 1463 398 926 1468 399 927 1470 400 928 1471 400 929 1473 401 930 1475 402 931 1472 403 932 1471 400 933 1475 402 934 1474 404 935 1467 397 936 1469 405 937 1468 399 938 1478 406 939 1480 407 940 1477 408 941 1479 409 942 1482 410 943 1480 407 944 1484 411 945 1486 412 946 1483 411 947 1482 410 948 1484 411 949 1483 411 950 1478 406 951 1473 401 952 1472 403 953 1535 413 954 1533 413 955 1534 413 956 1178 215 957 1180 414 958 1179 415 959 1702 36 960 1699 36 961 1698 36 962 3266 416 963 3262 417 964 3263 416 965 1842 418 966 1844 419 967 1841 420 968 1845 8 969 1841 420 970 1839 421 971 1847 422 972 1849 423 973 1846 422 974 1851 424 975 1853 425 976 1850 426 977 1854 427 978 1850 426 979 1853 425 980 1849 423 981 1852 428 982 1851 424 983 1843 419 984 1846 422 985 1844 419 986 1858 429 987 1860 430 988 1857 431 989 1862 432 990 1864 191 991 1861 191 992 1859 430 993 1862 432 994 1860 430 995 1866 433 996 1868 434 997 1865 435 998 1868 434 999 1870 38 1000 1865 435 1001 1861 191 1002 1867 433 1003 1866 433 1004 1855 436 1005 1858 429 1006 1857 431 1007 1876 420 1008 1878 419 1009 1875 437 1010 1879 8 1011 1876 420 1012 1873 8 1013 1881 422 1014 1883 438 1015 1880 423 1016 1885 424 1017 1887 425 1018 1884 428 1019 1886 439 1020 1889 440 1021 1887 425 1022 1880 423 1023 1885 424 1024 1884 428 1025 1875 437 1026 1882 422 1027 1881 422 1028 1892 441 1029 1894 442 1030 1891 442 1031 1896 432 1032 1898 191 1033 1895 191 1034 1891 442 1035 1897 432 1036 1896 432 1037 1900 443 1038 1902 444 1039 1899 444 1040 1902 444 1041 1904 38 1042 1899 444 1043 1895 191 1044 1901 443 1045 1900 443 1046 1889 440 1047 1893 441 1048 1892 441 1049 1910 420 1050 1912 419 1051 1909 419 1052 1913 8 1053 1910 420 1054 1907 445 1055 1915 422 1056 1917 423 1057 1914 423 1058 1919 424 1059 1921 439 1060 1918 425 1061 1922 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1957 451 1134 1960 452 1135 1959 453 1136 1978 420 1137 1980 419 1138 1977 419 1139 1981 445 1140 1978 420 1141 1975 421 1142 1983 422 1143 1985 423 1144 1982 422 1145 1987 424 1146 1989 439 1147 1986 426 1148 1990 427 1149 1986 426 1150 1989 439 1151 1985 423 1152 1988 424 1153 1987 424 1154 1980 419 1155 1982 422 1156 1977 419 1157 1994 431 1158 1996 457 1159 1993 457 1160 1998 432 1161 2000 191 1162 1997 432 1163 1996 457 1164 1997 432 1165 1993 457 1166 2002 443 1167 2004 435 1168 2001 443 1169 2221 458 1170 2219 459 1171 2222 460 1172 2003 435 1173 2006 461 1174 2004 435 1175 2000 191 1176 2002 443 1177 2001 443 1178 1991 440 1179 1995 431 1180 1994 431 1181 2012 418 1182 2014 419 1183 2011 419 1184 2015 88 1185 2012 418 1186 2009 88 1187 2017 422 1188 2019 423 1189 2016 423 1190 2021 428 1191 2023 462 1192 2020 462 1193 2024 463 1194 2020 462 1195 2023 462 1196 2016 423 1197 2022 428 1198 2021 428 1199 2011 419 1200 2018 422 1201 2017 422 1202 2028 452 1203 2030 455 1204 2027 455 1205 2032 432 1206 2034 191 1207 2031 191 1208 2027 455 1209 2033 432 1210 2032 432 1211 2036 433 1212 2038 464 1213 2035 464 1214 2035 464 1215 2041 164 1216 2040 164 1217 2031 191 1218 2037 433 1219 2036 433 1220 2025 463 1221 2029 452 1222 2028 452 1223 2055 184 1224 2052 465 1225 2053 465 1226 1104 466 1227 1107 467 1228 1105 466 1229 1115 468 1230 1118 469 1231 1117 469 1232 1123 149 1233 1126 470 1234 1125 470 1235 967 154 1236 984 471 1237 973 154 1238 2073 472 1239 2072 473 1240 2075 474 1241 2083 475 1242 2082 475 1243 2081 475 1244 2089 476 1245 2096 477 1246 2095 478 1247 2092 138 1248 2094 479 1249 2091 480 1250 2089 476 1251 2091 480 1252 2094 479 1253 2098 481 1254 2100 482 1255 2097 481 1256 2099 483 1257 2101 484 1258 2100 482 1259 2093 138 1260 2098 481 1261 2097 481 1262 2105 485 1263 2104 486 1264 2107 487 1265 2113 488 1266 2115 488 1267 2116 488 1268 2117 489 1269 2119 489 1270 2118 489 1271 2123 490 1272 2125 491 1273 2121 492 1274 2124 493 1275 2127 494 1276 2125 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2026 166 175 2019 167 176 3033 168 177 3036 169 178 3034 170 179 1101 171 180 1112 172 181 1108 173 182 3525 174 183 3531 175 184 3552 176 185 4996 177 186 4999 178 187 4997 179 188 2410 180 189 2411 181 190 2412 182 191 4762 183 192 4754 184 193 4759 185 194 1541 186 195 1546 187 196 1544 188 197 1323 189 198 1324 190 199 1322 189 200 922 191 201 923 191 202 925 191 203 233 192 204 243 193 205 221 194 206 1097 195 207 1109 196 208 1141 197 209 160 43 210 161 198 211 159 44 212 3367 199 213 3372 199 214 3371 199 215 4519 200 216 4521 201 217 4520 202 218 575 203 219 569 204 220 572 205 221 2463 206 222 2461 207 223 2460 208 224 4936 209 225 4934 210 226 4937 211 227 479 212 228 476 213 229 478 214 230 4051 215 231 4036 216 232 4031 217 233 317 218 234 313 219 235 316 220 236 2324 221 237 2342 222 238 2325 223 239 3288 224 240 3286 225 241 3287 226 242 481 227 243 478 214 244 480 228 245 4679 229 246 4678 230 247 4680 231 248 1540 232 249 1542 233 250 1541 186 251 1346 234 252 1351 235 253 1350 236 254 4156 237 255 4153 238 256 4154 239 257 813 240 258 821 241 259 814 242 260 4095 243 261 4114 244 262 4115 245 263 2012 246 264 2004 247 265 2003 248 266 2720 249 267 2721 250 268 2717 251 269 1391 252 270 1392 253 271 1379 254 272 4584 255 273 4607 256 274 4582 257 275 1363 258 276 1334 259 277 1348 260 278 2958 261 279 2952 262 280 2980 263 281 3876 264 282 3872 265 283 3874 266 284 2592 267 285 2581 268 286 2601 269 287 4511 270 288 4510 271 289 4517 272 290 1276 273 291 1279 274 292 1278 275 293 3700 276 294 3717 277 295 3725 278 296 4954 279 297 4953 280 298 4955 281 299 3035 282 300 3037 283 301 3036 169 302 344 284 303 342 285 304 312 286 305 2031 287 306 2039 288 307 2058 289 308 142 290 309 140 291 310 141 292 311 2385 293 312 2403 82 313 2370 294 314 4234 295 315 4235 296 316 4255 297 317 3690 298 318 3695 299 319 3696 300 320 4702 301 321 4700 302 322 4699 303 323 3851 304 324 3849 305 325 3850 306 326 4411 307 327 4410 308 328 4412 309 329 459 310 330 455 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3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 -

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448 708 159 708 449 708 449 709 159 709 157 709 449 710 157 710 450 710 450 711 157 711 155 711 450 712 155 712 451 712 451 713 155 713 153 713 451 714 153 714 452 714 452 715 153 715 151 715 452 716 151 716 453 716 453 717 151 717 149 717 453 718 149 718 454 718 454 719 149 719 147 719 454 720 147 720 455 720 455 721 147 721 145 721 455 722 145 722 456 722 456 723 145 723 144 723 456 724 144 724 457 724 457 725 144 725 143 725 457 726 143 726 458 726 458 727 143 727 162 727 458 728 162 728 459 728 459 729 162 729 161 729 459 730 161 730 448 730 448 731 161 731 159 731 452 732 457 732 451 732 451 733 457 733 458 733 451 734 458 734 459 734 459 735 448 735 451 735 451 736 448 736 449 736 451 737 449 737 450 737 455 738 456 738 454 738 454 739 456 739 457 739 454 740 457 740 453 740 453 741 457 741 452 741 460 742 117 742 461 742 461 743 117 743 119 743 461 744 119 744 462 744 462 745 119 745 121 745 462 746 121 746 463 746 463 747 121 747 122 747 463 748 122 748 464 748 464 749 122 749 132 749 464 750 132 750 465 750 465 751 132 751 130 751 465 752 130 752 466 752 466 753 130 753 128 753 466 754 128 754 467 754 467 755 128 755 126 755 467 756 126 756 468 756 468 757 126 757 124 757 468 758 124 758 469 758 469 759 124 759 123 759 469 760 123 760 470 760 470 761 123 761 137 761 470 762 137 762 471 762 471 763 137 763 138 763 471 764 138 764 460 764 460 765 138 765 117 765 463 766 464 766 465 766 471 767 465 767 466 767 462 768 463 768 461 768 461 769 463 769 465 769 461 770 465 770 460 770 460 771 465 771 471 771 469 772 470 772 468 772 468 773 470 773 471 773 468 774 471 774 467 774 467 775 471 775 466 775 472 824 31 824 473 824 473 825 31 825 46 825 473 826 46 826 474 826 474 827 46 827 47 827 474 828 47 828 475 828 475 829 47 829 40 829 475 830 40 830 476 830 476 831 40 831 39 831 476 832 39 832 477 832 477 833 39 833 37 833 477 834 37 834 478 834 478 835 37 835 35 835 478 836 35 836 479 836 479 837 35 837 33 837 479 838 33 838 480 838 480 839 33 839 32 839 480 840 32 840 481 840 481 841 32 841 26 841 481 842 26 842 482 842 482 843 26 843 28 843 482 844 28 844 483 844 483 845 28 845 30 845 483 846 30 846 472 846 472 847 30 847 31 847 481 848 482 848 483 848 475 849 476 849 477 849 473 850 474 850 475 850 479 851 480 851 478 851 478 852 480 852 481 852 478 853 481 853 477 853 477 854 481 854 483 854 477 855 483 855 475 855 475 856 483 856 472 856 475 857 472 857 473 857 484 858 7 858 485 858 485 859 7 859 10 859 485 860 10 860 486 860 486 861 10 861 12 861 486 862 12 862 487 862 487 863 12 863 13 863 487 864 13 864 488 864 488 865 13 865 21 865 488 866 21 866 489 866 489 867 21 867 19 867 489 868 19 868 490 868 490 869 19 869 17 869 490 870 17 870 491 870 491 871 17 871 15 871 491 872 15 872 492 872 492 873 15 873 14 873 492 874 14 874 493 874 493 875 14 875 2 875 493 876 2 876 494 876 494 877 2 877 4 877 494 878 4 878 495 878 495 879 4 879 6 879 495 880 6 880 484 880 484 881 6 881 7 881 484 882 489 882 495 882 495 883 489 883 490 883 487 884 488 884 486 884 486 885 488 885 489 885 486 886 489 886 485 886 485 887 489 887 484 887 493 888 494 888 492 888 492 889 494 889 495 889 492 890 495 890 491 890 491 891 495 891 490 891

- - - - - 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 -

158 660 160 660 169 660 169 661 160 661 168 661 152 666 154 666 178 666 178 667 154 667 206 667 146 672 148 672 192 672 192 673 148 673 176 673 140 678 139 678 180 678 180 679 139 679 182 679 133 688 134 688 172 688 172 689 134 689 183 689 127 694 129 694 175 694 175 695 129 695 170 695 136 700 135 700 185 700 185 701 135 701 173 701 118 706 116 706 187 706 187 707 116 707 186 707 34 776 36 776 63 776 63 777 36 777 62 777 27 782 25 782 48 782 48 783 25 783 64 783 45 788 44 788 68 788 68 789 44 789 86 789 42 794 43 794 58 794 58 795 43 795 81 795 3 804 1 804 69 804 69 805 1 805 82 805 9 810 8 810 101 810 101 811 8 811 66 811 22 816 23 816 53 816 53 817 23 817 71 817 16 822 18 822 59 822 59 823 18 823 51 823

- - - - - 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 -

0 0 1 0 2 0 2 1 1 1 3 1 2 2 3 2 4 2 4 3 3 3 5 3 4 4 5 4 6 4 6 5 5 5 7 5 5 6 8 6 7 6 7 7 8 7 9 7 7 8 9 8 10 8 10 9 9 9 11 9 10 10 11 10 12 10 12 11 11 11 13 11 0 12 2 12 14 12 0 13 14 13 15 13 0 14 15 14 16 14 16 15 15 15 17 15 16 16 17 16 18 16 18 17 17 17 19 17 18 18 19 18 20 18 20 19 19 19 21 19 20 20 21 20 22 20 22 21 21 21 13 21 22 22 13 22 23 22 23 23 13 23 11 23 24 24 25 24 26 24 26 25 25 25 27 25 26 26 27 26 28 26 28 27 27 27 29 27 28 28 29 28 30 28 30 29 29 29 31 29 26 30 32 30 24 30 24 31 32 31 33 31 24 32 33 32 34 32 34 33 33 33 35 33 34 34 35 34 36 34 36 35 35 35 37 35 36 36 37 36 38 36 38 37 37 37 39 37 39 38 40 38 38 38 38 39 40 39 41 39 38 40 41 40 42 40 42 41 41 41 43 41 29 42 44 42 31 42 31 43 44 43 45 43 31 44 45 44 46 44 46 45 45 45 41 45 46 46 41 46 47 46 47 47 41 47 40 47 48 48 49 48 50 48 51 49 52 49 53 49 54 50 55 50 56 50 57 51 58 51 59 51 60 52 61 52 59 52 57 53 59 53 62 53 62 54 59 54 61 54 62 55 61 55 63 55 63 56 61 56 64 56 63 57 64 57 65 57 66 58 67 58 68 58 68 59 67 59 69 59 49 60 48 60 70 60 71 61 72 61 73 61 73 62 74 62 71 62 71 63 74 63 75 63 71 64 75 64 53 64 53 65 75 65 76 65 77 66 78 66 79 66 80 67 68 67 81 67 81 68 68 68 69 68 81 69 69 69 58 69 58 70 69 70 82 70 58 71 82 71 59 71 59 72 82 72 83 72 76 73 84 73 53 73 53 74 84 74 60 74 53 75 60 75 51 75 51 76 60 76 59 76 85 77 48 77 86 77 86 78 48 78 50 78 86 79 50 79 68 79 68 80 50 80 87 80 68 81 87 81 66 81 84 82 88 82 60 82 60 83 88 83 89 83 60 84 89 84 90 84 91 85 54 85 92 85 92 86 54 86 56 86 92 87 56 87 93 87 90 88 94 88 60 88 60 89 94 89 95 89 60 90 95 90 79 90 79 91 95 91 96 91 79 92 96 92 77 92 97 93 98 93 56 93 56 94 98 94 99 94 56 95 99 95 93 95 71 96 100 96 72 96 72 97 100 97 101 97 72 98 101 98 66 98 91 99 102 99 54 99 54 100 102 100 103 100 54 101 103 101 104 101 104 102 103 102 105 102 104 103 105 103 106 103 61 104 104 104 64 104 64 105 104 105 106 105 64 106 106 106 48 106 48 107 106 107 107 107 48 108 107 108 70 108 78 109 108 109 79 109 79 110 108 110 109 110 79 111 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- - - - - 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 -

0 0 1 0 2 0 2 1 1 1 3 1 2 2 3 2 4 2 4 3 3 3 5 3 6 4 7 4 8 4 8 5 7 5 4 5 8 6 4 6 9 6 9 7 4 7 5 7 10 8 11 8 2 8 2 9 11 9 12 9 0 10 2 10 12 10 6 11 13 11 7 11 7 12 13 12 14 12 7 13 14 13 10 13 10 14 14 14 15 14 10 15 15 15 11 15 16 16 17 16 18 16 18 17 17 17 19 17 18 18 19 18 20 18 20 19 19 19 21 19 20 20 21 20 22 20 22 21 21 21 23 21 23 22 24 22 22 22 22 23 24 23 25 23 26 24 17 24 27 24 27 25 17 25 16 25 28 26 29 26 26 26 27 27 2 27 26 27 26 28 2 28 30 28 26 29 30 29 28 29 31 30 10 30 24 30 24 31 10 31 2 31 24 32 2 32 25 32 25 33 2 33 27 33 25 34 27 34 32 34 32 35 27 35 33 35 34 36 4 36 35 36 35 37 4 37 7 37 36 38 30 38 37 38 37 39 30 39 34 39 37 40 34 40 38 40 38 41 34 41 39 41 36 42 40 42 30 42 30 43 40 43 41 43 30 44 41 44 28 44 41 45 42 45 28 45 28 46 42 46 43 46 28 47 43 47 35 47 35 48 43 48 44 48 44 49 45 49 35 49 35 50 45 50 46 50 35 51 46 51 34 51 34 52 46 52 47 52 34 53 47 53 39 53 4 54 34 54 2 54 2 55 34 55 30 55 29 56 28 56 19 56 19 57 28 57 35 57 19 58 35 58 21 58 21 59 35 59 7 59 21 60 7 60 31 60 31 61 7 61 10 61 24 62 23 62 31 62 31 63 23 63 21 63 17 64 26 64 19 64 19 65 26 65 29 65 32 66 20 66 25 66 25 67 20 67 22 67 18 68 33 68 16 68 16 69 33 69 27 69 33 70 18 70 32 70 32 71 18 71 20 71

- - - 1 - - - - - - - 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 - - - - - - - - - - - - - - - \ No newline at end of file diff --git a/raw_description/meshes/tower/raw_tower_symetric.stl b/raw_description/meshes/tower/raw_tower_symetric.stl deleted file mode 100644 index 754a82d8a..000000000 Binary files a/raw_description/meshes/tower/raw_tower_symetric.stl and /dev/null differ diff --git a/raw_description/meshes/vacuum_gripper/vacuum_gripper.stl b/raw_description/meshes/vacuum_gripper/vacuum_gripper.stl deleted file mode 100644 index 2c00f3f0f..000000000 Binary files a/raw_description/meshes/vacuum_gripper/vacuum_gripper.stl and /dev/null differ diff --git a/raw_description/package.xml b/raw_description/package.xml deleted file mode 100644 index 0cfce8fe0..000000000 --- a/raw_description/package.xml +++ /dev/null @@ -1,25 +0,0 @@ - - raw_description - 0.7.8 - This package contains the description (mechanical, kinematic, visual, - etc.) of the Care-O-bot robot. The files in this package are parsed and used by - a variety of other components. Most users will not interact directly - with this package. - Apache 2.0 - - http://ros.org/wiki/cob_description - - - Jannik Abbenseth - Alexander Bubeck - - catkin - - cob_description - gazebo_ros - xacro - - - - - diff --git a/raw_description/urdf/base_long/base.gazebo.xacro b/raw_description/urdf/base_long/base.gazebo.xacro deleted file mode 100644 index 6df248af9..000000000 --- a/raw_description/urdf/base_long/base.gazebo.xacro +++ /dev/null @@ -1,45 +0,0 @@ - - - - - - true - false - - - - - - - true - false - - true - 100.0 - - ${name}_link_collision - ${name}_bumper - - - world - ${name}_bumper - - - - - - - true - 100.0 - ${name}_link - ${name}_pose_ground_truth - map - 25.7 25.7 0 - 0 0 0 - 0.01 - - ${name}_footprint - - - - diff --git a/raw_description/urdf/base_long/base.urdf.xacro b/raw_description/urdf/base_long/base.urdf.xacro deleted file mode 100644 index ddcb33f3b..000000000 --- a/raw_description/urdf/base_long/base.urdf.xacro +++ /dev/null @@ -1,131 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ${name} - joint_names - - - - - - diff --git a/raw_description/urdf/base_mini/base.gazebo.xacro b/raw_description/urdf/base_mini/base.gazebo.xacro deleted file mode 100644 index a8af5af19..000000000 --- a/raw_description/urdf/base_mini/base.gazebo.xacro +++ /dev/null @@ -1,38 +0,0 @@ - - - - - - true - false - - - - - - - - cmd_vel - odom - odom - 20.0 - ${name}_footprint - - - - - - true - 100.0 - ${name}_link - ${name}_pose_ground_truth - map - 25.7 25.7 0 - 0 0 0 - 0.01 - - ${name}_footprint - - - - diff --git a/raw_description/urdf/base_mini/base.urdf.xacro b/raw_description/urdf/base_mini/base.urdf.xacro deleted file mode 100644 index c0574d0aa..000000000 --- a/raw_description/urdf/base_mini/base.urdf.xacro +++ /dev/null @@ -1,63 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/raw_description/urdf/base_short/base.gazebo.xacro b/raw_description/urdf/base_short/base.gazebo.xacro deleted file mode 100644 index 6df248af9..000000000 --- a/raw_description/urdf/base_short/base.gazebo.xacro +++ /dev/null @@ -1,45 +0,0 @@ - - - - - - true - false - - - - - - - true - false - - true - 100.0 - - ${name}_link_collision - ${name}_bumper - - - world - ${name}_bumper - - - - - - - true - 100.0 - ${name}_link - ${name}_pose_ground_truth - map - 25.7 25.7 0 - 0 0 0 - 0.01 - - ${name}_footprint - - - - diff --git a/raw_description/urdf/base_short/base.urdf.xacro b/raw_description/urdf/base_short/base.urdf.xacro deleted file mode 100644 index 5336a0b48..000000000 --- a/raw_description/urdf/base_short/base.urdf.xacro +++ /dev/null @@ -1,133 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ${name} - joint_names - - - - - - diff --git a/raw_description/urdf/boxgripper/boxgripper.gazebo.xacro b/raw_description/urdf/boxgripper/boxgripper.gazebo.xacro deleted file mode 100644 index 28a7c4a29..000000000 --- a/raw_description/urdf/boxgripper/boxgripper.gazebo.xacro +++ /dev/null @@ -1,20 +0,0 @@ - - - - - - - true - false - Gazebo/Blue - - - - true - false - Gazebo/Blue - - - - - diff --git a/raw_description/urdf/boxgripper/boxgripper.urdf.xacro b/raw_description/urdf/boxgripper/boxgripper.urdf.xacro deleted file mode 100644 index c984f2a79..000000000 --- a/raw_description/urdf/boxgripper/boxgripper.urdf.xacro +++ /dev/null @@ -1,50 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/raw_description/urdf/head/head.urdf.xacro b/raw_description/urdf/head/head.urdf.xacro deleted file mode 100644 index bfa8c8be6..000000000 --- a/raw_description/urdf/head/head.urdf.xacro +++ /dev/null @@ -1,52 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/raw_description/urdf/mecanum_wheel/mecanum_wheel.urdf.xacro b/raw_description/urdf/mecanum_wheel/mecanum_wheel.urdf.xacro deleted file mode 100644 index 4b5af7652..000000000 --- a/raw_description/urdf/mecanum_wheel/mecanum_wheel.urdf.xacro +++ /dev/null @@ -1,30 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/raw_description/urdf/powerball/powerball_ERB115.gazebo.xacro b/raw_description/urdf/powerball/powerball_ERB115.gazebo.xacro deleted file mode 100644 index 187cf6e47..000000000 --- a/raw_description/urdf/powerball/powerball_ERB115.gazebo.xacro +++ /dev/null @@ -1,16 +0,0 @@ - - - - - - - false - - - - false - - - - - diff --git a/raw_description/urdf/powerball/powerball_ERB115.transmission.xacro b/raw_description/urdf/powerball/powerball_ERB115.transmission.xacro deleted file mode 100644 index 28e2d115c..000000000 --- a/raw_description/urdf/powerball/powerball_ERB115.transmission.xacro +++ /dev/null @@ -1,32 +0,0 @@ - - - - - - - transmission_interface/SimpleTransmission - - hardware_interface/PositionJointInterface - hardware_interface/VelocityJointInterface - - - - 1 - - - - - transmission_interface/SimpleTransmission - - hardware_interface/PositionJointInterface - hardware_interface/VelocityJointInterface - - - - 1 - - - - - - diff --git a/raw_description/urdf/powerball/powerball_ERB115.urdf.xacro b/raw_description/urdf/powerball/powerball_ERB115.urdf.xacro deleted file mode 100644 index ec19d3f3e..000000000 --- a/raw_description/urdf/powerball/powerball_ERB115.urdf.xacro +++ /dev/null @@ -1,95 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - f - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/raw_description/urdf/torso/torso.gazebo.xacro b/raw_description/urdf/torso/torso.gazebo.xacro deleted file mode 100644 index 15c42128b..000000000 --- a/raw_description/urdf/torso/torso.gazebo.xacro +++ /dev/null @@ -1,20 +0,0 @@ - - - - - - - true - false - IPA/LightGrey - - - - true - false - IPA/LightGrey - - - - - diff --git a/raw_description/urdf/torso/torso.transmission.xacro b/raw_description/urdf/torso/torso.transmission.xacro deleted file mode 100644 index c98e2db38..000000000 --- a/raw_description/urdf/torso/torso.transmission.xacro +++ /dev/null @@ -1,28 +0,0 @@ - - - - - - - transmission_interface/SimpleTransmission - - hardware_interface/PositionJointInterface - - - 1 - - - - - transmission_interface/SimpleTransmission - - hardware_interface/PositionJointInterface - - - 1 - - - - - - diff --git a/raw_description/urdf/torso/torso.urdf.xacro b/raw_description/urdf/torso/torso.urdf.xacro deleted file mode 100644 index f81eb2919..000000000 --- a/raw_description/urdf/torso/torso.urdf.xacro +++ /dev/null @@ -1,119 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ${name} - joint_names - - - - - - diff --git a/raw_description/urdf/torso/torso_v2.urdf.xacro b/raw_description/urdf/torso/torso_v2.urdf.xacro deleted file mode 100644 index 7128817d7..000000000 --- a/raw_description/urdf/torso/torso_v2.urdf.xacro +++ /dev/null @@ -1,47 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ${name} - joint_names - - - - - - diff --git a/raw_description/urdf/tower_asymetric/tower.gazebo.xacro b/raw_description/urdf/tower_asymetric/tower.gazebo.xacro deleted file mode 100644 index c54643dc5..000000000 --- a/raw_description/urdf/tower_asymetric/tower.gazebo.xacro +++ /dev/null @@ -1,13 +0,0 @@ - - - - - - - true - false - - - - - diff --git a/raw_description/urdf/tower_asymetric/tower.urdf.xacro b/raw_description/urdf/tower_asymetric/tower.urdf.xacro deleted file mode 100644 index 35ad10638..000000000 --- a/raw_description/urdf/tower_asymetric/tower.urdf.xacro +++ /dev/null @@ -1,47 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/raw_description/urdf/tower_symetric/tower.gazebo.xacro b/raw_description/urdf/tower_symetric/tower.gazebo.xacro deleted file mode 100644 index fdf981275..000000000 --- a/raw_description/urdf/tower_symetric/tower.gazebo.xacro +++ /dev/null @@ -1,13 +0,0 @@ - - - - - - - true - false - - - - - diff --git a/raw_description/urdf/tower_symetric/tower.urdf.xacro b/raw_description/urdf/tower_symetric/tower.urdf.xacro deleted file mode 100644 index 6a51880b2..000000000 --- a/raw_description/urdf/tower_symetric/tower.urdf.xacro +++ /dev/null @@ -1,47 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/raw_description/urdf/ur_arm/ur10_arm.urdf.xacro b/raw_description/urdf/ur_arm/ur10_arm.urdf.xacro deleted file mode 100644 index 5c8c40707..000000000 --- a/raw_description/urdf/ur_arm/ur10_arm.urdf.xacro +++ /dev/null @@ -1,29 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/raw_description/urdf/ur_arm/ur5_arm.urdf.xacro b/raw_description/urdf/ur_arm/ur5_arm.urdf.xacro deleted file mode 100644 index 6e45801eb..000000000 --- a/raw_description/urdf/ur_arm/ur5_arm.urdf.xacro +++ /dev/null @@ -1,29 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/raw_description/urdf/vacuum_gripper/gripper.gazebo.xacro b/raw_description/urdf/vacuum_gripper/gripper.gazebo.xacro deleted file mode 100644 index 25c674a48..000000000 --- a/raw_description/urdf/vacuum_gripper/gripper.gazebo.xacro +++ /dev/null @@ -1,13 +0,0 @@ - - - - - - - true - false - - - - - diff --git a/raw_description/urdf/vacuum_gripper/gripper.urdf.xacro b/raw_description/urdf/vacuum_gripper/gripper.urdf.xacro deleted file mode 100644 index 4eab2fa6c..000000000 --- a/raw_description/urdf/vacuum_gripper/gripper.urdf.xacro +++ /dev/null @@ -1,71 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -