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Piper_ros_private-ros-noetic/.idea/inspectionProfiles/profiles_settings.xml

@@ -0,0 +1,6 @@
+<component name="InspectionProjectProfileManager">
+  <settings>
+    <option name="USE_PROJECT_PROFILE" value="false" />
+    <version value="1.0" />
+  </settings>
+</component>

Piper_ros_private-ros-noetic/devel/share/piper_msgs/cmake/piper_msgsConfig.cmake

@@ -0,0 +1,223 @@
+# generated from catkin/cmake/template/pkgConfig.cmake.in
+
+# append elements to a list and remove existing duplicates from the list
+# copied from catkin/cmake/list_append_deduplicate.cmake to keep pkgConfig
+# self contained
+macro(_list_append_deduplicate listname)
+  if(NOT "${ARGN}" STREQUAL "")
+    if(${listname})
+      list(REMOVE_ITEM ${listname} ${ARGN})
+    endif()
+    list(APPEND ${listname} ${ARGN})
+  endif()
+endmacro()
+
+# append elements to a list if they are not already in the list
+# copied from catkin/cmake/list_append_unique.cmake to keep pkgConfig
+# self contained
+macro(_list_append_unique listname)
+  foreach(_item ${ARGN})
+    list(FIND ${listname} ${_item} _index)
+    if(_index EQUAL -1)
+      list(APPEND ${listname} ${_item})
+    endif()
+  endforeach()
+endmacro()
+
+# pack a list of libraries with optional build configuration keywords
+# copied from catkin/cmake/catkin_libraries.cmake to keep pkgConfig
+# self contained
+macro(_pack_libraries_with_build_configuration VAR)
+  set(${VAR} "")
+  set(_argn ${ARGN})
+  list(LENGTH _argn _count)
+  set(_index 0)
+  while(${_index} LESS ${_count})
+    list(GET _argn ${_index} lib)
+    if("${lib}" MATCHES "^(debug|optimized|general)$")
+      math(EXPR _index "${_index} + 1")
+      if(${_index} EQUAL ${_count})
+        message(FATAL_ERROR "_pack_libraries_with_build_configuration() the list of libraries '${ARGN}' ends with '${lib}' which is a build configuration keyword and must be followed by a library")
+      endif()
+      list(GET _argn ${_index} library)
+      list(APPEND ${VAR} "${lib}${CATKIN_BUILD_CONFIGURATION_KEYWORD_SEPARATOR}${library}")
+    else()
+      list(APPEND ${VAR} "${lib}")
+    endif()
+    math(EXPR _index "${_index} + 1")
+  endwhile()
+endmacro()
+
+# unpack a list of libraries with optional build configuration keyword prefixes
+# copied from catkin/cmake/catkin_libraries.cmake to keep pkgConfig
+# self contained
+macro(_unpack_libraries_with_build_configuration VAR)
+  set(${VAR} "")
+  foreach(lib ${ARGN})
+    string(REGEX REPLACE "^(debug|optimized|general)${CATKIN_BUILD_CONFIGURATION_KEYWORD_SEPARATOR}(.+)$" "\\1;\\2" lib "${lib}")
+    list(APPEND ${VAR} "${lib}")
+  endforeach()
+endmacro()
+
+
+if(piper_msgs_CONFIG_INCLUDED)
+  return()
+endif()
+set(piper_msgs_CONFIG_INCLUDED TRUE)
+
+# set variables for source/devel/install prefixes
+if("TRUE" STREQUAL "TRUE")
+  set(piper_msgs_SOURCE_PREFIX /home/agilex/cobot_magic/Piper_ros_private-ros-noetic/src/piper_msgs)
+  set(piper_msgs_DEVEL_PREFIX /home/agilex/cobot_magic/Piper_ros_private-ros-noetic/devel)
+  set(piper_msgs_INSTALL_PREFIX "")
+  set(piper_msgs_PREFIX ${piper_msgs_DEVEL_PREFIX})
+else()
+  set(piper_msgs_SOURCE_PREFIX "")
+  set(piper_msgs_DEVEL_PREFIX "")
+  set(piper_msgs_INSTALL_PREFIX /home/agilex/cobot_magic/Piper_ros_private-ros-noetic/install)
+  set(piper_msgs_PREFIX ${piper_msgs_INSTALL_PREFIX})
+endif()
+
+# warn when using a deprecated package
+if(NOT "" STREQUAL "")
+  set(_msg "WARNING: package 'piper_msgs' is deprecated")
+  # append custom deprecation text if available
+  if(NOT "" STREQUAL "TRUE")
+    set(_msg "${_msg} ()")
+  endif()
+  message("${_msg}")
+endif()
+
+# flag project as catkin-based to distinguish if a find_package()-ed project is a catkin project
+set(piper_msgs_FOUND_CATKIN_PROJECT TRUE)
+
+if(NOT "/home/agilex/cobot_magic/Piper_ros_private-ros-noetic/devel/include " STREQUAL " ")
+  set(piper_msgs_INCLUDE_DIRS "")
+  set(_include_dirs "/home/agilex/cobot_magic/Piper_ros_private-ros-noetic/devel/include")
+  if(NOT " " STREQUAL " ")
+    set(_report "Check the issue tracker '' and consider creating a ticket if the problem has not been reported yet.")
+  elseif(NOT " " STREQUAL " ")
+    set(_report "Check the website '' for information and consider reporting the problem.")
+  else()
+    set(_report "Report the problem to the maintainer 'agilex <agilex@todo.todo>' and request to fix the problem.")
+  endif()
+  foreach(idir ${_include_dirs})
+    if(IS_ABSOLUTE ${idir} AND IS_DIRECTORY ${idir})
+      set(include ${idir})
+    elseif("${idir} " STREQUAL "include ")
+      get_filename_component(include "${piper_msgs_DIR}/../../../include" ABSOLUTE)
+      if(NOT IS_DIRECTORY ${include})
+        message(FATAL_ERROR "Project 'piper_msgs' specifies '${idir}' as an include dir, which is not found.  It does not exist in '${include}'.  ${_report}")
+      endif()
+    else()
+      message(FATAL_ERROR "Project 'piper_msgs' specifies '${idir}' as an include dir, which is not found.  It does neither exist as an absolute directory nor in '/home/agilex/cobot_magic/Piper_ros_private-ros-noetic/src/piper_msgs/${idir}'.  ${_report}")
+    endif()
+    _list_append_unique(piper_msgs_INCLUDE_DIRS ${include})
+  endforeach()
+endif()
+
+set(libraries "")
+foreach(library ${libraries})
+  # keep build configuration keywords, target names and absolute libraries as-is
+  if("${library}" MATCHES "^(debug|optimized|general)$")
+    list(APPEND piper_msgs_LIBRARIES ${library})
+  elseif(${library} MATCHES "^-l")
+    list(APPEND piper_msgs_LIBRARIES ${library})
+  elseif(${library} MATCHES "^-")
+    # This is a linker flag/option (like -pthread)
+    # There's no standard variable for these, so create an interface library to hold it
+    if(NOT piper_msgs_NUM_DUMMY_TARGETS)
+      set(piper_msgs_NUM_DUMMY_TARGETS 0)
+    endif()
+    # Make sure the target name is unique
+    set(interface_target_name "catkin::piper_msgs::wrapped-linker-option${piper_msgs_NUM_DUMMY_TARGETS}")
+    while(TARGET "${interface_target_name}")
+      math(EXPR piper_msgs_NUM_DUMMY_TARGETS "${piper_msgs_NUM_DUMMY_TARGETS}+1")
+      set(interface_target_name "catkin::piper_msgs::wrapped-linker-option${piper_msgs_NUM_DUMMY_TARGETS}")
+    endwhile()
+    add_library("${interface_target_name}" INTERFACE IMPORTED)
+    if("${CMAKE_VERSION}" VERSION_LESS "3.13.0")
+      set_property(
+        TARGET
+        "${interface_target_name}"
+        APPEND PROPERTY
+        INTERFACE_LINK_LIBRARIES "${library}")
+    else()
+      target_link_options("${interface_target_name}" INTERFACE "${library}")
+    endif()
+    list(APPEND piper_msgs_LIBRARIES "${interface_target_name}")
+  elseif(TARGET ${library})
+    list(APPEND piper_msgs_LIBRARIES ${library})
+  elseif(IS_ABSOLUTE ${library})
+    list(APPEND piper_msgs_LIBRARIES ${library})
+  else()
+    set(lib_path "")
+    set(lib "${library}-NOTFOUND")
+    # since the path where the library is found is returned we have to iterate over the paths manually
+    foreach(path /home/agilex/cobot_magic/Piper_ros_private-ros-noetic/devel/lib;/home/agilex/cobot_magic/camera_ws/devel/lib;/home/agilex/agilex_ws/devel/lib;/opt/ros/noetic/lib)
+      find_library(lib ${library}
+        PATHS ${path}
+        NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH)
+      if(lib)
+        set(lib_path ${path})
+        break()
+      endif()
+    endforeach()
+    if(lib)
+      _list_append_unique(piper_msgs_LIBRARY_DIRS ${lib_path})
+      list(APPEND piper_msgs_LIBRARIES ${lib})
+    else()
+      # as a fall back for non-catkin libraries try to search globally
+      find_library(lib ${library})
+      if(NOT lib)
+        message(FATAL_ERROR "Project '${PROJECT_NAME}' tried to find library '${library}'.  The library is neither a target nor built/installed properly.  Did you compile project 'piper_msgs'?  Did you find_package() it before the subdirectory containing its code is included?")
+      endif()
+      list(APPEND piper_msgs_LIBRARIES ${lib})
+    endif()
+  endif()
+endforeach()
+
+set(piper_msgs_EXPORTED_TARGETS "piper_msgs_generate_messages_cpp;piper_msgs_generate_messages_eus;piper_msgs_generate_messages_lisp;piper_msgs_generate_messages_nodejs;piper_msgs_generate_messages_py")
+# create dummy targets for exported code generation targets to make life of users easier
+foreach(t ${piper_msgs_EXPORTED_TARGETS})
+  if(NOT TARGET ${t})
+    add_custom_target(${t})
+  endif()
+endforeach()
+
+set(depends "actionlib;actionlib_msgs;control_msgs;roscpp;rospy;sensor_msgs;std_msgs;trajectory_msgs;message_generation;geometry_msgs")
+foreach(depend ${depends})
+  string(REPLACE " " ";" depend_list ${depend})
+  # the package name of the dependency must be kept in a unique variable so that it is not overwritten in recursive calls
+  list(GET depend_list 0 piper_msgs_dep)
+  list(LENGTH depend_list count)
+  if(${count} EQUAL 1)
+    # simple dependencies must only be find_package()-ed once
+    if(NOT ${piper_msgs_dep}_FOUND)
+      find_package(${piper_msgs_dep} REQUIRED NO_MODULE)
+    endif()
+  else()
+    # dependencies with components must be find_package()-ed again
+    list(REMOVE_AT depend_list 0)
+    find_package(${piper_msgs_dep} REQUIRED NO_MODULE ${depend_list})
+  endif()
+  _list_append_unique(piper_msgs_INCLUDE_DIRS ${${piper_msgs_dep}_INCLUDE_DIRS})
+
+  # merge build configuration keywords with library names to correctly deduplicate
+  _pack_libraries_with_build_configuration(piper_msgs_LIBRARIES ${piper_msgs_LIBRARIES})
+  _pack_libraries_with_build_configuration(_libraries ${${piper_msgs_dep}_LIBRARIES})
+  _list_append_deduplicate(piper_msgs_LIBRARIES ${_libraries})
+  # undo build configuration keyword merging after deduplication
+  _unpack_libraries_with_build_configuration(piper_msgs_LIBRARIES ${piper_msgs_LIBRARIES})
+
+  _list_append_unique(piper_msgs_LIBRARY_DIRS ${${piper_msgs_dep}_LIBRARY_DIRS})
+  _list_append_deduplicate(piper_msgs_EXPORTED_TARGETS ${${piper_msgs_dep}_EXPORTED_TARGETS})
+endforeach()
+
+set(pkg_cfg_extras "piper_msgs-msg-extras.cmake")
+foreach(extra ${pkg_cfg_extras})
+  if(NOT IS_ABSOLUTE ${extra})
+    set(extra ${piper_msgs_DIR}/${extra})
+  endif()
+  include(${extra})
+endforeach()

Piper_ros_private-ros-noetic/devel/share/roseus/ros/piper_msgs/msg/PiperStatusMsg.l

@@ -0,0 +1,300 @@
+;; Auto-generated. Do not edit!
+
+
+(when (boundp 'piper_msgs::PiperStatusMsg)
+  (if (not (find-package "PIPER_MSGS"))
+    (make-package "PIPER_MSGS"))
+  (shadow 'PiperStatusMsg (find-package "PIPER_MSGS")))
+(unless (find-package "PIPER_MSGS::PIPERSTATUSMSG")
+  (make-package "PIPER_MSGS::PIPERSTATUSMSG"))
+
+(in-package "ROS")
+;;//! \htmlinclude PiperStatusMsg.msg.html
+
+
+(defclass piper_msgs::PiperStatusMsg
+  :super ros::object
+  :slots (_ctrl_mode _arm_status _mode_feedback _teach_status _motion_status _trajectory_num _err_code _joint_1_angle_limit _joint_2_angle_limit _joint_3_angle_limit _joint_4_angle_limit _joint_5_angle_limit _joint_6_angle_limit _communication_status_joint_1 _communication_status_joint_2 _communication_status_joint_3 _communication_status_joint_4 _communication_status_joint_5 _communication_status_joint_6 ))
+
+(defmethod piper_msgs::PiperStatusMsg
+  (:init
+   (&key
+    ((:ctrl_mode __ctrl_mode) 0)
+    ((:arm_status __arm_status) 0)
+    ((:mode_feedback __mode_feedback) 0)
+    ((:teach_status __teach_status) 0)
+    ((:motion_status __motion_status) 0)
+    ((:trajectory_num __trajectory_num) 0)
+    ((:err_code __err_code) 0)
+    ((:joint_1_angle_limit __joint_1_angle_limit) nil)
+    ((:joint_2_angle_limit __joint_2_angle_limit) nil)
+    ((:joint_3_angle_limit __joint_3_angle_limit) nil)
+    ((:joint_4_angle_limit __joint_4_angle_limit) nil)
+    ((:joint_5_angle_limit __joint_5_angle_limit) nil)
+    ((:joint_6_angle_limit __joint_6_angle_limit) nil)
+    ((:communication_status_joint_1 __communication_status_joint_1) nil)
+    ((:communication_status_joint_2 __communication_status_joint_2) nil)
+    ((:communication_status_joint_3 __communication_status_joint_3) nil)
+    ((:communication_status_joint_4 __communication_status_joint_4) nil)
+    ((:communication_status_joint_5 __communication_status_joint_5) nil)
+    ((:communication_status_joint_6 __communication_status_joint_6) nil)
+    )
+   (send-super :init)
+   (setq _ctrl_mode (round __ctrl_mode))
+   (setq _arm_status (round __arm_status))
+   (setq _mode_feedback (round __mode_feedback))
+   (setq _teach_status (round __teach_status))
+   (setq _motion_status (round __motion_status))
+   (setq _trajectory_num (round __trajectory_num))
+   (setq _err_code (round __err_code))
+   (setq _joint_1_angle_limit __joint_1_angle_limit)
+   (setq _joint_2_angle_limit __joint_2_angle_limit)
+   (setq _joint_3_angle_limit __joint_3_angle_limit)
+   (setq _joint_4_angle_limit __joint_4_angle_limit)
+   (setq _joint_5_angle_limit __joint_5_angle_limit)
+   (setq _joint_6_angle_limit __joint_6_angle_limit)
+   (setq _communication_status_joint_1 __communication_status_joint_1)
+   (setq _communication_status_joint_2 __communication_status_joint_2)
+   (setq _communication_status_joint_3 __communication_status_joint_3)
+   (setq _communication_status_joint_4 __communication_status_joint_4)
+   (setq _communication_status_joint_5 __communication_status_joint_5)
+   (setq _communication_status_joint_6 __communication_status_joint_6)
+   self)
+  (:ctrl_mode
+   (&optional __ctrl_mode)
+   (if __ctrl_mode (setq _ctrl_mode __ctrl_mode)) _ctrl_mode)
+  (:arm_status
+   (&optional __arm_status)
+   (if __arm_status (setq _arm_status __arm_status)) _arm_status)
+  (:mode_feedback
+   (&optional __mode_feedback)
+   (if __mode_feedback (setq _mode_feedback __mode_feedback)) _mode_feedback)
+  (:teach_status
+   (&optional __teach_status)
+   (if __teach_status (setq _teach_status __teach_status)) _teach_status)
+  (:motion_status
+   (&optional __motion_status)
+   (if __motion_status (setq _motion_status __motion_status)) _motion_status)
+  (:trajectory_num
+   (&optional __trajectory_num)
+   (if __trajectory_num (setq _trajectory_num __trajectory_num)) _trajectory_num)
+  (:err_code
+   (&optional __err_code)
+   (if __err_code (setq _err_code __err_code)) _err_code)
+  (:joint_1_angle_limit
+   (&optional (__joint_1_angle_limit :null))
+   (if (not (eq __joint_1_angle_limit :null)) (setq _joint_1_angle_limit __joint_1_angle_limit)) _joint_1_angle_limit)
+  (:joint_2_angle_limit
+   (&optional (__joint_2_angle_limit :null))
+   (if (not (eq __joint_2_angle_limit :null)) (setq _joint_2_angle_limit __joint_2_angle_limit)) _joint_2_angle_limit)
+  (:joint_3_angle_limit
+   (&optional (__joint_3_angle_limit :null))
+   (if (not (eq __joint_3_angle_limit :null)) (setq _joint_3_angle_limit __joint_3_angle_limit)) _joint_3_angle_limit)
+  (:joint_4_angle_limit
+   (&optional (__joint_4_angle_limit :null))
+   (if (not (eq __joint_4_angle_limit :null)) (setq _joint_4_angle_limit __joint_4_angle_limit)) _joint_4_angle_limit)
+  (:joint_5_angle_limit
+   (&optional (__joint_5_angle_limit :null))
+   (if (not (eq __joint_5_angle_limit :null)) (setq _joint_5_angle_limit __joint_5_angle_limit)) _joint_5_angle_limit)
+  (:joint_6_angle_limit
+   (&optional (__joint_6_angle_limit :null))
+   (if (not (eq __joint_6_angle_limit :null)) (setq _joint_6_angle_limit __joint_6_angle_limit)) _joint_6_angle_limit)
+  (:communication_status_joint_1
+   (&optional (__communication_status_joint_1 :null))
+   (if (not (eq __communication_status_joint_1 :null)) (setq _communication_status_joint_1 __communication_status_joint_1)) _communication_status_joint_1)
+  (:communication_status_joint_2
+   (&optional (__communication_status_joint_2 :null))
+   (if (not (eq __communication_status_joint_2 :null)) (setq _communication_status_joint_2 __communication_status_joint_2)) _communication_status_joint_2)
+  (:communication_status_joint_3
+   (&optional (__communication_status_joint_3 :null))
+   (if (not (eq __communication_status_joint_3 :null)) (setq _communication_status_joint_3 __communication_status_joint_3)) _communication_status_joint_3)
+  (:communication_status_joint_4
+   (&optional (__communication_status_joint_4 :null))
+   (if (not (eq __communication_status_joint_4 :null)) (setq _communication_status_joint_4 __communication_status_joint_4)) _communication_status_joint_4)
+  (:communication_status_joint_5
+   (&optional (__communication_status_joint_5 :null))
+   (if (not (eq __communication_status_joint_5 :null)) (setq _communication_status_joint_5 __communication_status_joint_5)) _communication_status_joint_5)
+  (:communication_status_joint_6
+   (&optional (__communication_status_joint_6 :null))
+   (if (not (eq __communication_status_joint_6 :null)) (setq _communication_status_joint_6 __communication_status_joint_6)) _communication_status_joint_6)
+  (:serialization-length
+   ()
+   (+
+    ;; uint8 _ctrl_mode
+    1
+    ;; uint8 _arm_status
+    1
+    ;; uint8 _mode_feedback
+    1
+    ;; uint8 _teach_status
+    1
+    ;; uint8 _motion_status
+    1
+    ;; uint8 _trajectory_num
+    1
+    ;; int64 _err_code
+    8
+    ;; bool _joint_1_angle_limit
+    1
+    ;; bool _joint_2_angle_limit
+    1
+    ;; bool _joint_3_angle_limit
+    1
+    ;; bool _joint_4_angle_limit
+    1
+    ;; bool _joint_5_angle_limit
+    1
+    ;; bool _joint_6_angle_limit
+    1
+    ;; bool _communication_status_joint_1
+    1
+    ;; bool _communication_status_joint_2
+    1
+    ;; bool _communication_status_joint_3
+    1
+    ;; bool _communication_status_joint_4
+    1
+    ;; bool _communication_status_joint_5
+    1
+    ;; bool _communication_status_joint_6
+    1
+    ))
+  (:serialize
+   (&optional strm)
+   (let ((s (if strm strm
+              (make-string-output-stream (send self :serialization-length)))))
+     ;; uint8 _ctrl_mode
+       (write-byte _ctrl_mode s)
+     ;; uint8 _arm_status
+       (write-byte _arm_status s)
+     ;; uint8 _mode_feedback
+       (write-byte _mode_feedback s)
+     ;; uint8 _teach_status
+       (write-byte _teach_status s)
+     ;; uint8 _motion_status
+       (write-byte _motion_status s)
+     ;; uint8 _trajectory_num
+       (write-byte _trajectory_num s)
+     ;; int64 _err_code
+#+(or :alpha :irix6 :x86_64)
+       (progn (sys::poke _err_code (send s :buffer) (send s :count) :long) (incf (stream-count s) 8))
+#-(or :alpha :irix6 :x86_64)
+       (cond ((and (class _err_code) (= (length (_err_code . bv)) 2)) ;; bignum
+              (write-long (ash (elt (_err_code . bv) 0) 0) s)
+              (write-long (ash (elt (_err_code . bv) 1) -1) s))
+             ((and (class _err_code) (= (length (_err_code . bv)) 1)) ;; big1
+              (write-long (elt (_err_code . bv) 0) s)
+              (write-long (if (>= _err_code 0) 0 #xffffffff) s))
+             (t                                         ;; integer
+              (write-long _err_code s)(write-long (if (>= _err_code 0) 0 #xffffffff) s)))
+     ;; bool _joint_1_angle_limit
+       (if _joint_1_angle_limit (write-byte -1 s) (write-byte 0 s))
+     ;; bool _joint_2_angle_limit
+       (if _joint_2_angle_limit (write-byte -1 s) (write-byte 0 s))
+     ;; bool _joint_3_angle_limit
+       (if _joint_3_angle_limit (write-byte -1 s) (write-byte 0 s))
+     ;; bool _joint_4_angle_limit
+       (if _joint_4_angle_limit (write-byte -1 s) (write-byte 0 s))
+     ;; bool _joint_5_angle_limit
+       (if _joint_5_angle_limit (write-byte -1 s) (write-byte 0 s))
+     ;; bool _joint_6_angle_limit
+       (if _joint_6_angle_limit (write-byte -1 s) (write-byte 0 s))
+     ;; bool _communication_status_joint_1
+       (if _communication_status_joint_1 (write-byte -1 s) (write-byte 0 s))
+     ;; bool _communication_status_joint_2
+       (if _communication_status_joint_2 (write-byte -1 s) (write-byte 0 s))
+     ;; bool _communication_status_joint_3
+       (if _communication_status_joint_3 (write-byte -1 s) (write-byte 0 s))
+     ;; bool _communication_status_joint_4
+       (if _communication_status_joint_4 (write-byte -1 s) (write-byte 0 s))
+     ;; bool _communication_status_joint_5
+       (if _communication_status_joint_5 (write-byte -1 s) (write-byte 0 s))
+     ;; bool _communication_status_joint_6
+       (if _communication_status_joint_6 (write-byte -1 s) (write-byte 0 s))
+     ;;
+     (if (null strm) (get-output-stream-string s))))
+  (:deserialize
+   (buf &optional (ptr- 0))
+   ;; uint8 _ctrl_mode
+     (setq _ctrl_mode (sys::peek buf ptr- :char)) (incf ptr- 1)
+   ;; uint8 _arm_status
+     (setq _arm_status (sys::peek buf ptr- :char)) (incf ptr- 1)
+   ;; uint8 _mode_feedback
+     (setq _mode_feedback (sys::peek buf ptr- :char)) (incf ptr- 1)
+   ;; uint8 _teach_status
+     (setq _teach_status (sys::peek buf ptr- :char)) (incf ptr- 1)
+   ;; uint8 _motion_status
+     (setq _motion_status (sys::peek buf ptr- :char)) (incf ptr- 1)
+   ;; uint8 _trajectory_num
+     (setq _trajectory_num (sys::peek buf ptr- :char)) (incf ptr- 1)
+   ;; int64 _err_code
+#+(or :alpha :irix6 :x86_64)
+      (setf _err_code (prog1 (sys::peek buf ptr- :long) (incf ptr- 8)))
+#-(or :alpha :irix6 :x86_64)
+      (setf _err_code (let ((b0 (prog1 (sys::peek buf ptr- :integer) (incf ptr- 4)))
+                  (b1 (prog1 (sys::peek buf ptr- :integer) (incf ptr- 4))))
+              (cond ((= b1 -1) b0)
+                     ((and (= b1  0)
+                           (<= lisp::most-negative-fixnum b0 lisp::most-positive-fixnum))
+                      b0)
+                    ((= b1  0) (make-instance bignum :size 1 :bv (integer-vector b0)))
+                    (t (make-instance bignum :size 2 :bv (integer-vector b0 (ash b1 1)))))))
+   ;; bool _joint_1_angle_limit
+     (setq _joint_1_angle_limit (not (= 0 (sys::peek buf ptr- :char)))) (incf ptr- 1)
+   ;; bool _joint_2_angle_limit
+     (setq _joint_2_angle_limit (not (= 0 (sys::peek buf ptr- :char)))) (incf ptr- 1)
+   ;; bool _joint_3_angle_limit
+     (setq _joint_3_angle_limit (not (= 0 (sys::peek buf ptr- :char)))) (incf ptr- 1)
+   ;; bool _joint_4_angle_limit
+     (setq _joint_4_angle_limit (not (= 0 (sys::peek buf ptr- :char)))) (incf ptr- 1)
+   ;; bool _joint_5_angle_limit
+     (setq _joint_5_angle_limit (not (= 0 (sys::peek buf ptr- :char)))) (incf ptr- 1)
+   ;; bool _joint_6_angle_limit
+     (setq _joint_6_angle_limit (not (= 0 (sys::peek buf ptr- :char)))) (incf ptr- 1)
+   ;; bool _communication_status_joint_1
+     (setq _communication_status_joint_1 (not (= 0 (sys::peek buf ptr- :char)))) (incf ptr- 1)
+   ;; bool _communication_status_joint_2
+     (setq _communication_status_joint_2 (not (= 0 (sys::peek buf ptr- :char)))) (incf ptr- 1)
+   ;; bool _communication_status_joint_3
+     (setq _communication_status_joint_3 (not (= 0 (sys::peek buf ptr- :char)))) (incf ptr- 1)
+   ;; bool _communication_status_joint_4
+     (setq _communication_status_joint_4 (not (= 0 (sys::peek buf ptr- :char)))) (incf ptr- 1)
+   ;; bool _communication_status_joint_5
+     (setq _communication_status_joint_5 (not (= 0 (sys::peek buf ptr- :char)))) (incf ptr- 1)
+   ;; bool _communication_status_joint_6
+     (setq _communication_status_joint_6 (not (= 0 (sys::peek buf ptr- :char)))) (incf ptr- 1)
+   ;;
+   self)
+  )
+
+(setf (get piper_msgs::PiperStatusMsg :md5sum-) "18e0aaa943372aaa58f1495907dd9a17")
+(setf (get piper_msgs::PiperStatusMsg :datatype-) "piper_msgs/PiperStatusMsg")
+(setf (get piper_msgs::PiperStatusMsg :definition-)
+      "uint8 ctrl_mode
+uint8 arm_status
+uint8 mode_feedback
+uint8 teach_status
+uint8 motion_status
+uint8 trajectory_num
+int64 err_code
+bool joint_1_angle_limit
+bool joint_2_angle_limit
+bool joint_3_angle_limit
+bool joint_4_angle_limit
+bool joint_5_angle_limit
+bool joint_6_angle_limit
+bool communication_status_joint_1
+bool communication_status_joint_2
+bool communication_status_joint_3
+bool communication_status_joint_4
+bool communication_status_joint_5
+bool communication_status_joint_6
+
+
+")
+
+
+
+(provide :piper_msgs/PiperStatusMsg "18e0aaa943372aaa58f1495907dd9a17")
+
+

Piper_ros_private-ros-noetic/devel/share/roseus/ros/piper_msgs/msg/PosCmd.l

@@ -0,0 +1,158 @@
+;; Auto-generated. Do not edit!
+
+
+(when (boundp 'piper_msgs::PosCmd)
+  (if (not (find-package "PIPER_MSGS"))
+    (make-package "PIPER_MSGS"))
+  (shadow 'PosCmd (find-package "PIPER_MSGS")))
+(unless (find-package "PIPER_MSGS::POSCMD")
+  (make-package "PIPER_MSGS::POSCMD"))
+
+(in-package "ROS")
+;;//! \htmlinclude PosCmd.msg.html
+
+
+(defclass piper_msgs::PosCmd
+  :super ros::object
+  :slots (_x _y _z _roll _pitch _yaw _gripper _mode1 _mode2 ))
+
+(defmethod piper_msgs::PosCmd
+  (:init
+   (&key
+    ((:x __x) 0.0)
+    ((:y __y) 0.0)
+    ((:z __z) 0.0)
+    ((:roll __roll) 0.0)
+    ((:pitch __pitch) 0.0)
+    ((:yaw __yaw) 0.0)
+    ((:gripper __gripper) 0.0)
+    ((:mode1 __mode1) 0)
+    ((:mode2 __mode2) 0)
+    )
+   (send-super :init)
+   (setq _x (float __x))
+   (setq _y (float __y))
+   (setq _z (float __z))
+   (setq _roll (float __roll))
+   (setq _pitch (float __pitch))
+   (setq _yaw (float __yaw))
+   (setq _gripper (float __gripper))
+   (setq _mode1 (round __mode1))
+   (setq _mode2 (round __mode2))
+   self)
+  (:x
+   (&optional __x)
+   (if __x (setq _x __x)) _x)
+  (:y
+   (&optional __y)
+   (if __y (setq _y __y)) _y)
+  (:z
+   (&optional __z)
+   (if __z (setq _z __z)) _z)
+  (:roll
+   (&optional __roll)
+   (if __roll (setq _roll __roll)) _roll)
+  (:pitch
+   (&optional __pitch)
+   (if __pitch (setq _pitch __pitch)) _pitch)
+  (:yaw
+   (&optional __yaw)
+   (if __yaw (setq _yaw __yaw)) _yaw)
+  (:gripper
+   (&optional __gripper)
+   (if __gripper (setq _gripper __gripper)) _gripper)
+  (:mode1
+   (&optional __mode1)
+   (if __mode1 (setq _mode1 __mode1)) _mode1)
+  (:mode2
+   (&optional __mode2)
+   (if __mode2 (setq _mode2 __mode2)) _mode2)
+  (:serialization-length
+   ()
+   (+
+    ;; float64 _x
+    8
+    ;; float64 _y
+    8
+    ;; float64 _z
+    8
+    ;; float64 _roll
+    8
+    ;; float64 _pitch
+    8
+    ;; float64 _yaw
+    8
+    ;; float64 _gripper
+    8
+    ;; int32 _mode1
+    4
+    ;; int32 _mode2
+    4
+    ))
+  (:serialize
+   (&optional strm)
+   (let ((s (if strm strm
+              (make-string-output-stream (send self :serialization-length)))))
+     ;; float64 _x
+       (sys::poke _x (send s :buffer) (send s :count) :double) (incf (stream-count s) 8)
+     ;; float64 _y
+       (sys::poke _y (send s :buffer) (send s :count) :double) (incf (stream-count s) 8)
+     ;; float64 _z
+       (sys::poke _z (send s :buffer) (send s :count) :double) (incf (stream-count s) 8)
+     ;; float64 _roll
+       (sys::poke _roll (send s :buffer) (send s :count) :double) (incf (stream-count s) 8)
+     ;; float64 _pitch
+       (sys::poke _pitch (send s :buffer) (send s :count) :double) (incf (stream-count s) 8)
+     ;; float64 _yaw
+       (sys::poke _yaw (send s :buffer) (send s :count) :double) (incf (stream-count s) 8)
+     ;; float64 _gripper
+       (sys::poke _gripper (send s :buffer) (send s :count) :double) (incf (stream-count s) 8)
+     ;; int32 _mode1
+       (write-long _mode1 s)
+     ;; int32 _mode2
+       (write-long _mode2 s)
+     ;;
+     (if (null strm) (get-output-stream-string s))))
+  (:deserialize
+   (buf &optional (ptr- 0))
+   ;; float64 _x
+     (setq _x (sys::peek buf ptr- :double)) (incf ptr- 8)
+   ;; float64 _y
+     (setq _y (sys::peek buf ptr- :double)) (incf ptr- 8)
+   ;; float64 _z
+     (setq _z (sys::peek buf ptr- :double)) (incf ptr- 8)
+   ;; float64 _roll
+     (setq _roll (sys::peek buf ptr- :double)) (incf ptr- 8)
+   ;; float64 _pitch
+     (setq _pitch (sys::peek buf ptr- :double)) (incf ptr- 8)
+   ;; float64 _yaw
+     (setq _yaw (sys::peek buf ptr- :double)) (incf ptr- 8)
+   ;; float64 _gripper
+     (setq _gripper (sys::peek buf ptr- :double)) (incf ptr- 8)
+   ;; int32 _mode1
+     (setq _mode1 (sys::peek buf ptr- :integer)) (incf ptr- 4)
+   ;; int32 _mode2
+     (setq _mode2 (sys::peek buf ptr- :integer)) (incf ptr- 4)
+   ;;
+   self)
+  )
+
+(setf (get piper_msgs::PosCmd :md5sum-) "1c57ab1c25d2c8b93367daa40ff13cae")
+(setf (get piper_msgs::PosCmd :datatype-) "piper_msgs/PosCmd")
+(setf (get piper_msgs::PosCmd :definition-)
+      "float64 x
+float64 y
+float64 z
+float64 roll
+float64 pitch
+float64 yaw
+float64 gripper
+int32 mode1
+int32 mode2
+")
+
+
+
+(provide :piper_msgs/PosCmd "1c57ab1c25d2c8b93367daa40ff13cae")
+
+

Piper_ros_private-ros-noetic/src/piper/launch/start_single_piper_rviz.launch

@@ -0,0 +1,13 @@
+<launch>
+  <arg name="can_port" default="can0" />
+  <arg name="auto_enable" default="true" />
+  <include file="$(find piper_description)/launch/display_xacro.launch"/>
+  <!-- 启动机械臂节点 -->
+  <node name="piper_ctrl_single_node" pkg="piper" type="piper_ctrl_single_node.py" output="screen">
+    <param name="can_port" value="$(arg can_port)" />
+    <param name="auto_enable" value="$(arg auto_enable)" />
+    <param name="rviz_ctrl_flag" value="true" />
+    <param name="girpper_exist" value="true" />
+    <remap from="joint_ctrl_single" to="/joint_states" />
+  </node>
+</launch>

Piper_ros_private-ros-noetic/src/piper/scripts/piper_start_ms_node.py

@@ -0,0 +1,341 @@
+#!/usr/bin/env python3
+# -*-coding:utf8-*-
+# 本文件为同时打开主从臂的节点，通过mode参数控制是读取还是控制
+# 默认认为从臂有夹爪
+# mode为0时为发送主从臂消息，
+# mode为1时为控制从臂，不发送主臂消息，此时如果要控制从臂，需要给主臂的topic发送消息
+from typing import (
+    Optional,
+)
+import rospy
+import rosnode
+from sensor_msgs.msg import JointState
+from std_msgs.msg import Bool
+import time
+import threading
+import argparse
+import math
+from piper_sdk import *
+from piper_sdk import C_PiperInterface
+from piper_msgs.msg import PiperStatusMsg, PosCmd
+from geometry_msgs.msg import Pose,PoseStamped
+from tf.transformations import quaternion_from_euler  # 用于欧拉角到四元数的转换
+
+def check_ros_master():
+    try:
+        rosnode.rosnode_ping('rosout', max_count=1, verbose=False)
+        rospy.loginfo("ROS Master is running.")
+    except rosnode.ROSNodeIOException:
+        rospy.logerr("ROS Master is not running.")
+        raise RuntimeError("ROS Master is not running.")
+
+class C_PiperRosNode():
+    """机械臂ros节点
+    """
+    def __init__(self) -> None:
+        check_ros_master()
+        rospy.init_node('piper_start_all_node', anonymous=True)
+
+        self.can_port = "can0"
+        if rospy.has_param('~can_port'):
+            self.can_port = rospy.get_param("~can_port")
+            rospy.loginfo("%s is %s", rospy.resolve_name('~can_port'), self.can_port)
+        else: 
+            rospy.loginfo("未找到can_port参数,请输入 _can_port:=can0 类似的格式")
+            exit(0)
+        # 模式，模式为1的时候，才能够控制从臂
+        self.mode = 0
+        if rospy.has_param('~mode'):
+            self.mode = rospy.get_param("~mode")
+            rospy.loginfo("%s is %s", rospy.resolve_name('~mode'), self.mode)
+        else:
+            rospy.loginfo("未找到mode参数,请输入 _mode:=0 类似的格式")
+            exit(0)
+
+        # 是否自动使能，默认不自动使能，只有模式为1的时候才能够被设置为自动使能
+        self.auto_enable = False
+        if rospy.has_param('~auto_enable'):
+            if(rospy.get_param("~auto_enable") and self.mode == 1):
+                self.auto_enable = True
+        rospy.loginfo("%s is %s", rospy.resolve_name('~auto_enable'), self.auto_enable)
+        # publish
+        self.joint_std_pub_puppet = rospy.Publisher('/puppet/joint_states', JointState, queue_size=1)
+        # 默认模式为0，读取主从臂消息
+        if(self.mode == 0):
+            self.joint_std_pub_master = rospy.Publisher('/master/joint_states', JointState, queue_size=1)
+        self.arm_status_pub = rospy.Publisher('/puppet/arm_status', PiperStatusMsg, queue_size=1)
+        self.end_pose_pub = rospy.Publisher('/puppet/end_pose', PoseStamped, queue_size=1)
+        
+        self.__enable_flag = False
+        # 从臂消息
+        self.joint_state_slave = JointState()
+        self.joint_state_slave.name = ['joint0', 'joint1', 'joint2', 'joint3', 'joint4', 'joint5', 'joint6']
+        self.joint_state_slave.position = [0.0] * 7
+        self.joint_state_slave.velocity = [0.0] * 7
+        self.joint_state_slave.effort = [0.0] * 7
+        # 主臂消息
+        self.joint_state_master = JointState()
+        self.joint_state_master.name = ['joint0', 'joint1', 'joint2', 'joint3', 'joint4', 'joint5', 'joint6']
+        self.joint_state_master.position = [0.0] * 7
+        self.joint_state_master.velocity = [0.0] * 7
+        self.joint_state_master.effort = [0.0] * 7
+
+        self.piper = C_PiperInterface(can_name=self.can_port)
+        self.piper.ConnectPort()
+        # 模式为1的时候，订阅控制消息
+        if(self.mode == 1):
+            sub_pos_th = threading.Thread(target=self.SubPosThread)
+            sub_joint_th = threading.Thread(target=self.SubJointThread)
+            sub_enable_th = threading.Thread(target=self.SubEnableThread)
+            
+            sub_pos_th.daemon = True
+            sub_joint_th.daemon = True
+            sub_enable_th.daemon = True
+            
+            sub_pos_th.start()
+            sub_joint_th.start()
+            sub_enable_th.start()
+
+    def GetEnableFlag(self):
+        return self.__enable_flag
+
+    def Pubilsh(self):
+        """机械臂消息发布
+        """
+        rate = rospy.Rate(200)  # 200 Hz
+        enable_flag = False
+        # 设置超时时间（秒）
+        timeout = 5
+        # 记录进入循环前的时间
+        start_time = time.time()
+        elapsed_time_flag = False
+        while not rospy.is_shutdown():
+            if(self.auto_enable and self.mode == 1):
+                while not (enable_flag):
+                    elapsed_time = time.time() - start_time
+                    print("--------------------")
+                    enable_flag = self.piper.GetArmLowSpdInfoMsgs().motor_1.foc_status.driver_enable_status and \
+                        self.piper.GetArmLowSpdInfoMsgs().motor_2.foc_status.driver_enable_status and \
+                        self.piper.GetArmLowSpdInfoMsgs().motor_3.foc_status.driver_enable_status and \
+                        self.piper.GetArmLowSpdInfoMsgs().motor_4.foc_status.driver_enable_status and \
+                        self.piper.GetArmLowSpdInfoMsgs().motor_5.foc_status.driver_enable_status and \
+                        self.piper.GetArmLowSpdInfoMsgs().motor_6.foc_status.driver_enable_status
+                    print("使能状态:",enable_flag)
+                    if(enable_flag):
+                        self.__enable_flag = True
+                    self.piper.EnableArm(7)
+                    self.piper.GripperCtrl(0,1000,0x01, 0)
+                    print("--------------------")
+                    # 检查是否超过超时时间
+                    if elapsed_time > timeout:
+                        print("超时....")
+                        elapsed_time_flag = True
+                        enable_flag = True
+                        break
+                    time.sleep(1)
+                    pass
+            if(elapsed_time_flag):
+                print("程序自动使能超时,退出程序")
+                exit(0)
+            # 发布消息
+            self.PublishSlaveArmJointAndGripper()
+            self.PublishSlaveArmState()
+            self.PublishSlaveArmEndPose()
+            # 模式为0的时候，发布主臂消息
+            if(self.mode == 0):
+                self.PublishMasterArmJointAndGripper()
+
+            rate.sleep()
+    
+    def PublishSlaveArmState(self):
+        arm_status = PiperStatusMsg()
+        arm_status.ctrl_mode = self.piper.GetArmStatus().arm_status.ctrl_mode
+        arm_status.arm_status = self.piper.GetArmStatus().arm_status.arm_status
+        arm_status.mode_feedback = self.piper.GetArmStatus().arm_status.mode_feed
+        arm_status.teach_status = self.piper.GetArmStatus().arm_status.teach_status
+        arm_status.motion_status = self.piper.GetArmStatus().arm_status.motion_status
+        arm_status.trajectory_num = self.piper.GetArmStatus().arm_status.trajectory_num
+        arm_status.err_code = self.piper.GetArmStatus().arm_status.err_code
+        arm_status.joint_1_angle_limit = self.piper.GetArmStatus().arm_status.err_status.joint_1_angle_limit
+        arm_status.joint_2_angle_limit = self.piper.GetArmStatus().arm_status.err_status.joint_2_angle_limit
+        arm_status.joint_3_angle_limit = self.piper.GetArmStatus().arm_status.err_status.joint_3_angle_limit
+        arm_status.joint_4_angle_limit = self.piper.GetArmStatus().arm_status.err_status.joint_4_angle_limit
+        arm_status.joint_5_angle_limit = self.piper.GetArmStatus().arm_status.err_status.joint_5_angle_limit
+        arm_status.joint_6_angle_limit = self.piper.GetArmStatus().arm_status.err_status.joint_6_angle_limit
+        arm_status.communication_status_joint_1 = self.piper.GetArmStatus().arm_status.err_status.communication_status_joint_1
+        arm_status.communication_status_joint_2 = self.piper.GetArmStatus().arm_status.err_status.communication_status_joint_2
+        arm_status.communication_status_joint_3 = self.piper.GetArmStatus().arm_status.err_status.communication_status_joint_3
+        arm_status.communication_status_joint_4 = self.piper.GetArmStatus().arm_status.err_status.communication_status_joint_4
+        arm_status.communication_status_joint_5 = self.piper.GetArmStatus().arm_status.err_status.communication_status_joint_5
+        arm_status.communication_status_joint_6 = self.piper.GetArmStatus().arm_status.err_status.communication_status_joint_6
+        self.arm_status_pub.publish(arm_status)
+    
+    def PublishSlaveArmEndPose(self):
+        # 末端位姿
+        endpos = PoseStamped()
+        endpos.pose.position.x = self.piper.GetArmEndPoseMsgs().end_pose.X_axis/1000000
+        endpos.pose.position.y = self.piper.GetArmEndPoseMsgs().end_pose.Y_axis/1000000
+        endpos.pose.position.z = self.piper.GetArmEndPoseMsgs().end_pose.Z_axis/1000000
+        roll = self.piper.GetArmEndPoseMsgs().end_pose.RX_axis/1000
+        pitch = self.piper.GetArmEndPoseMsgs().end_pose.RY_axis/1000
+        yaw = self.piper.GetArmEndPoseMsgs().end_pose.RZ_axis/1000
+        roll = math.radians(roll)
+        pitch = math.radians(pitch)
+        yaw = math.radians(yaw)
+        quaternion = quaternion_from_euler(roll, pitch, yaw)
+        endpos.pose.orientation.x = quaternion[0]
+        endpos.pose.orientation.y = quaternion[1]
+        endpos.pose.orientation.z = quaternion[2]
+        endpos.pose.orientation.w = quaternion[3]
+        # 为末端位姿增加时间戳
+        endpos.header.stamp = rospy.Time.now()
+        self.end_pose_pub.publish(endpos)
+    
+    def PublishSlaveArmJointAndGripper(self):
+        # 从臂反馈消息
+        self.joint_state_slave.header.stamp = rospy.Time.now()
+        joint_0:float = (self.piper.GetArmJointMsgs().joint_state.joint_1/1000) * 0.017444
+        joint_1:float = (self.piper.GetArmJointMsgs().joint_state.joint_2/1000) * 0.017444
+        joint_2:float = (self.piper.GetArmJointMsgs().joint_state.joint_3/1000) * 0.017444
+        joint_3:float = (self.piper.GetArmJointMsgs().joint_state.joint_4/1000) * 0.017444
+        joint_4:float = (self.piper.GetArmJointMsgs().joint_state.joint_5/1000) * 0.017444
+        joint_5:float = (self.piper.GetArmJointMsgs().joint_state.joint_6/1000) * 0.017444
+        joint_6:float = self.piper.GetArmGripperMsgs().gripper_state.grippers_angle/1000000
+        vel_0:float = self.piper.GetArmHighSpdInfoMsgs().motor_1.motor_speed/1000
+        vel_1:float = self.piper.GetArmHighSpdInfoMsgs().motor_2.motor_speed/1000
+        vel_2:float = self.piper.GetArmHighSpdInfoMsgs().motor_3.motor_speed/1000
+        vel_3:float = self.piper.GetArmHighSpdInfoMsgs().motor_4.motor_speed/1000
+        vel_4:float = self.piper.GetArmHighSpdInfoMsgs().motor_5.motor_speed/1000
+        vel_5:float = self.piper.GetArmHighSpdInfoMsgs().motor_6.motor_speed/1000
+        effort_6:float = self.piper.GetArmGripperMsgs().gripper_state.grippers_effort/1000
+        self.joint_state_slave.position = [joint_0,joint_1, joint_2, joint_3, joint_4, joint_5,joint_6]  # Example values
+        self.joint_state_slave.velocity = [vel_0, vel_1, vel_2, vel_3, vel_4, vel_5, 0.0]  # Example values
+        self.joint_state_slave.effort[6] = effort_6
+        self.joint_std_pub_puppet.publish(self.joint_state_slave)
+    
+    def PublishMasterArmJointAndGripper(self):
+        # 主臂控制消息
+        self.joint_state_master.header.stamp = rospy.Time.now()
+        joint_0:float = (self.piper.GetArmJointCtrl().joint_ctrl.joint_1/1000) * 0.017444
+        joint_1:float = (self.piper.GetArmJointCtrl().joint_ctrl.joint_2/1000) * 0.017444
+        joint_2:float = (self.piper.GetArmJointCtrl().joint_ctrl.joint_3/1000) * 0.017444
+        joint_3:float = (self.piper.GetArmJointCtrl().joint_ctrl.joint_4/1000) * 0.017444
+        joint_4:float = (self.piper.GetArmJointCtrl().joint_ctrl.joint_5/1000) * 0.017444
+        joint_5:float = (self.piper.GetArmJointCtrl().joint_ctrl.joint_6/1000) * 0.017444
+        joint_6:float = self.piper.GetArmGripperCtrl().gripper_ctrl.grippers_angle/1000000
+        self.joint_state_master.position = [joint_0,joint_1, joint_2, joint_3, joint_4, joint_5,joint_6]  # Example values
+        self.joint_std_pub_master.publish(self.joint_state_master)
+    
+    def SubPosThread(self):
+        """机械臂末端位姿订阅
+        
+        """
+        rospy.Subscriber('pos_cmd', PosCmd, self.pos_callback)
+        rospy.spin()
+    
+    def SubJointThread(self):
+        """机械臂关节订阅
+        
+        """
+        rospy.Subscriber('/master/joint_states', JointState, self.joint_callback)
+        rospy.spin()
+    
+    def SubEnableThread(self):
+        """机械臂使能
+        
+        """
+        rospy.Subscriber('/enable_flag', Bool, self.enable_callback)
+        rospy.spin()
+
+    def pos_callback(self, pos_data):
+        """机械臂末端位姿订阅回调函数
+
+        Args:
+            pos_data (): 
+        """
+        factor = 180 / 3.1415926
+        x = round(pos_data.x*1000) * 1000
+        y = round(pos_data.y*1000) * 1000
+        z = round(pos_data.z*1000) * 1000
+        rx = round(pos_data.roll*1000*factor) 
+        ry = round(pos_data.pitch*1000*factor)
+        rz = round(pos_data.yaw*1000*factor)
+        rospy.loginfo("Received PosCmd:")
+        rospy.loginfo("x: %f", x)
+        rospy.loginfo("y: %f", y)
+        rospy.loginfo("z: %f", z)
+        rospy.loginfo("roll: %f", rx)
+        rospy.loginfo("pitch: %f", ry)
+        rospy.loginfo("yaw: %f", rz)
+        rospy.loginfo("gripper: %f", pos_data.gripper)
+        rospy.loginfo("mode1: %d", pos_data.mode1)
+        rospy.loginfo("mode2: %d", pos_data.mode2)
+        if(self.GetEnableFlag()):
+            self.piper.MotionCtrl_1(0x00, 0x00, 0x00)
+            self.piper.MotionCtrl_2(0x01, 0x00, 50)
+            self.piper.EndPoseCtrl(x, y, z, 
+                                    rx, ry, rz)
+            gripper = round(pos_data.gripper*1000*1000)
+            if(pos_data.gripper>80000): gripper = 80000
+            if(pos_data.gripper<0): gripper = 0
+            if(self.girpper_exist):
+                self.piper.GripperCtrl(abs(gripper), 1000, 0x01, 0)
+            self.piper.MotionCtrl_2(0x01, 0x00, 50)
+    
+    def joint_callback(self, joint_data):
+        """机械臂关节角回调函数
+
+        Args:
+            joint_data (): 
+        """
+        factor = 57324.840764 #1000*180/3.14
+        factor1 = 57.32484
+        rospy.loginfo("Received Joint States:")
+        rospy.loginfo("joint_0: %f", joint_data.position[0]*1)
+        rospy.loginfo("joint_1: %f", joint_data.position[1]*1)
+        rospy.loginfo("joint_2: %f", joint_data.position[2]*1)
+        rospy.loginfo("joint_3: %f", joint_data.position[3]*1)
+        rospy.loginfo("joint_4: %f", joint_data.position[4]*1)
+        rospy.loginfo("joint_5: %f", joint_data.position[5]*1)
+        rospy.loginfo("joint_6: %f", joint_data.position[6]*1)
+        joint_0 = round(joint_data.position[0]*factor)
+        joint_1 = round(joint_data.position[1]*factor)
+        joint_2 = round(joint_data.position[2]*factor)
+        joint_3 = round(joint_data.position[3]*factor)
+        joint_4 = round(joint_data.position[4]*factor)
+        joint_5 = round(joint_data.position[5]*factor)
+        joint_6 = round(joint_data.position[6]*1000*1000)
+        if(joint_6>80000): joint_6 = 80000
+        if(joint_6<0): joint_6 = 0
+        if(self.GetEnableFlag()):
+            self.piper.MotionCtrl_2(0x01, 0x01, 100)
+            self.piper.JointCtrl(joint_0, joint_1, joint_2, 
+                                    joint_3, joint_4, joint_5)
+            self.piper.GripperCtrl(abs(joint_6), 1000, 0x01, 0)
+            self.piper.MotionCtrl_2(0x01, 0x01, 100)
+            pass
+    
+    def enable_callback(self, enable_flag:Bool):
+        """机械臂使能回调函数
+
+        Args:
+            enable_flag (): 
+        """
+        rospy.loginfo("Received enable flag:")
+        rospy.loginfo("enable_flag: %s", enable_flag.data)
+        if(enable_flag.data):
+            self.__enable_flag = True
+            self.piper.EnableArm(7)
+            self.piper.GripperCtrl(0,1000,0x01, 0)
+        else:
+            self.__enable_flag = False
+            self.piper.DisableArm(7)
+            self.piper.GripperCtrl(0,1000,0x00, 0)
+
+if __name__ == '__main__':
+    try:
+        piper_ms = C_PiperRosNode()
+        piper_ms.Pubilsh()
+    except rospy.ROSInterruptException:
+        pass
+

Piper_ros_private-ros-noetic/src/piper_description/config/joint_names_agx_arm_description.yaml

@@ -0,0 +1 @@
+controller_joint_names: ['', 'joint1', 'joint2', 'joint3', 'joint4', 'joint5', 'joint6', 'joint7', 'joint8', ]

Piper_ros_private-ros-noetic/src/piper_description/config/piper_gazebo_control.yaml

@@ -0,0 +1,37 @@
+piper_description:
+  joint_state_controller:
+    type: joint_state_controller/JointStateController
+    publish_rate: 200
+
+  joint1_position_controller:
+    type: position_controllers/JointPositionController
+    joint: joint1
+    pid: {p: 100.0, i: 0.01, d: 5.0}
+  joint2_position_controller:
+    type: position_controllers/JointPositionController
+    joint: joint2
+    pid: {p: 100.0, i: 0.01, d: 5.0}
+  joint3_position_controller:
+    type: position_controllers/JointPositionController
+    joint: joint3
+    pid: {p: 100.0, i: 0.01, d: 5.0}
+  joint4_position_controller:
+    type: position_controllers/JointPositionController
+    joint: joint4
+    pid: {p: 100.0, i: 0.01, d: 5.0}
+  joint5_position_controller:
+    type: position_controllers/JointPositionController
+    joint: joint5
+    pid: {p: 100.0, i: 0.01, d: 5.0}
+  joint6_position_controller:
+    type: position_controllers/JointPositionController
+    joint: joint6
+    pid: {p: 100.0, i: 0.01, d: 5.0}
+  joint7_position_controller:
+    type: position_controllers/JointPositionController
+    joint: joint7
+    pid: {p: 100, i: 0.001, d: 10.0}
+  joint8_position_controller:
+    type: position_controllers/JointPositionController
+    joint: joint8
+    pid: {p: 100, i: 0.001, d: 10.0}

Piper_ros_private-ros-noetic/src/piper_description/launch/piper_gazebo_controller.launch

@@ -0,0 +1,27 @@
+<launch>
+
+    <!-- 将关节控制器的配置参数加载到参数服务器中 -->
+    <rosparam file="$(find piper_description)/config/piper_gazebo_control.yaml" command="load"/>
+
+    <!-- 加载controllers -->
+    <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
+          output="screen" ns="/piper_description" args="joint_state_controller
+                                          joint1_position_controller
+                                          joint2_position_controller
+                                          joint3_position_controller
+                                          joint4_position_controller
+                                          joint5_position_controller
+                                          joint6_position_controller
+                                          joint7_position_controller
+                                          joint8_position_controller"/>
+
+    <!-- 运行robot_state_publisher节点，发布tf  -->
+    <node name="$(anon robot_state_publisher)" pkg="robot_state_publisher" type="robot_state_publisher"
+          respawn="false" output="screen">
+        <remap from="/joint_states" to="/piper_description/joint_states" />
+    </node>
+
+
+</launch>
+
+

Piper_ros_private-ros-noetic/src/piper_description/launch/rviz_ctrl_gazebo.launch

@@ -0,0 +1,9 @@
+<launch>
+    <!-- 启动Gazebo  -->
+    <include file="$(find piper_description)/launch/piper_world.launch" />   
+    <!-- 启动Gazebo controllers -->
+    <include file="$(find piper_description)/launch/piper_gazebo_controller.launch" />
+    <!-- 由于和rviz启动打不开gz控制器，所以建议分开启动 -->
+    <!-- <include file="$(find piper_description)/launch/display_xacro.launch"/> -->
+    <node name="rviz_ctrl_gazebo_joint" pkg="piper_description" type="rviz_ctrl_gazebo.py" output="screen"/>
+</launch>

Piper_ros_private-ros-noetic/src/piper_description/package.xml

@@ -0,0 +1,21 @@
+<package format="2">
+  <name>piper_description</name>
+  <version>1.0.0</version>
+  <description>
+    <p>URDF Description package for piper_description</p>
+    <p>This package contains configuration data, 3D models and launch files
+for piper_description robot</p>
+  </description>
+  <author>TODO</author>
+  <maintainer email="TODO@email.com" />
+  <license>BSD</license>
+  <buildtool_depend>catkin</buildtool_depend>
+  <depend>roslaunch</depend>
+  <depend>robot_state_publisher</depend>
+  <depend>rviz</depend>
+  <depend>joint_state_publisher_gui</depend>
+  <depend>gazebo</depend>
+  <export>
+    <architecture_independent />
+  </export>
+</package>

Piper_ros_private-ros-noetic/src/piper_description/rviz/piper_ctrl.rviz

@@ -0,0 +1,184 @@
+Panels:
+  - Class: rviz/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /Status1
+      Splitter Ratio: 0.5
+    Tree Height: 549
+  - Class: rviz/Selection
+    Name: Selection
+  - Class: rviz/Tool Properties
+    Expanded:
+      - /2D Pose Estimate1
+      - /2D Nav Goal1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.5886790156364441
+  - Class: rviz/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz/Time
+    Name: Time
+    SyncMode: 0
+    SyncSource: ""
+Preferences:
+  PromptSaveOnExit: true
+Toolbars:
+  toolButtonStyle: 2
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Alpha: 1
+      Class: rviz/RobotModel
+      Collision Enabled: false
+      Enabled: true
+      Links:
+        All Links Enabled: true
+        Expand Joint Details: false
+        Expand Link Details: false
+        Expand Tree: false
+        Link Tree Style: Links in Alphabetic Order
+        base_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        link1:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        link2:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        link3:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        link4:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        link5:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        link6:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        link7:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        link8:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        world:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+      Name: RobotModel
+      Robot Description: robot_description
+      TF Prefix: ""
+      Update Interval: 0
+      Value: true
+      Visual Enabled: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Default Light: true
+    Fixed Frame: base_link
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz/Interact
+      Hide Inactive Objects: true
+    - Class: rviz/MoveCamera
+    - Class: rviz/Select
+    - Class: rviz/FocusCamera
+    - Class: rviz/Measure
+    - Class: rviz/SetInitialPose
+      Theta std deviation: 0.2617993950843811
+      Topic: /initialpose
+      X std deviation: 0.5
+      Y std deviation: 0.5
+    - Class: rviz/SetGoal
+      Topic: /move_base_simple/goal
+    - Class: rviz/PublishPoint
+      Single click: true
+      Topic: /clicked_point
+  Value: true
+  Views:
+    Current:
+      Class: rviz/Orbit
+      Distance: 1.985201120376587
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Field of View: 0.7853981852531433
+      Focal Point:
+        X: 0
+        Y: 0
+        Z: 0
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.785398006439209
+      Target Frame: <Fixed Frame>
+      Yaw: 0.785398006439209
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 846
+  Hide Left Dock: false
+  Hide Right Dock: false
+  QMainWindow State: 000000ff00000000fd000000040000000000000156000002b0fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000002b0000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002b0fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d000002b0000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650100000000000004b0000003bc00fffffffb0000000800540069006d006501000000000000045000000000000000000000023f000002b000000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 1200
+  X: 72
+  Y: 27

Piper_ros_private-ros-noetic/src/piper_description/scripts/rviz_ctrl_gazebo.py

@@ -0,0 +1,48 @@
+#!/usr/bin/env python3
+
+import rospy
+from sensor_msgs.msg import JointState
+from std_msgs.msg import Float64
+
+class JointStateRelay:
+    def __init__(self):
+        rospy.init_node('rviz_ctrl_gazebo', anonymous=True)
+
+        # 创建发布者来发布到每个关节的控制器话题
+        self.joint1_pub = rospy.Publisher('/piper_description/joint1_position_controller/command', Float64, queue_size=2)
+        self.joint2_pub = rospy.Publisher('/piper_description/joint2_position_controller/command', Float64, queue_size=2)
+        self.joint3_pub = rospy.Publisher('/piper_description/joint3_position_controller/command', Float64, queue_size=2)
+        self.joint4_pub = rospy.Publisher('/piper_description/joint4_position_controller/command', Float64, queue_size=2)
+        self.joint5_pub = rospy.Publisher('/piper_description/joint5_position_controller/command', Float64, queue_size=2)
+        self.joint6_pub = rospy.Publisher('/piper_description/joint6_position_controller/command', Float64, queue_size=2)
+        self.joint7_pub = rospy.Publisher('/piper_description/joint7_position_controller/command', Float64, queue_size=2)
+        self.joint8_pub = rospy.Publisher('/piper_description/joint8_position_controller/command', Float64, queue_size=2)
+
+        # 订阅/joint_states话题
+        rospy.Subscriber('/joint_states', JointState, self.joint_states_callback)
+
+    def joint_states_callback(self, msg):
+        # 假设joint_states中的关节名称和控制器的话题顺序一致
+        # 如果顺序不同，需要进行映射
+        try:
+            # 逐个发布到相应的话题
+            self.joint1_pub.publish(msg.position[0])
+            self.joint2_pub.publish(msg.position[1])
+            self.joint3_pub.publish(msg.position[2])
+            self.joint4_pub.publish(msg.position[3])
+            self.joint5_pub.publish(msg.position[4])
+            self.joint6_pub.publish(msg.position[5])
+            self.joint7_pub.publish(msg.position[6])
+            self.joint8_pub.publish(msg.position[7])
+        except IndexError:
+            rospy.logerr("Received joint states do not match expected number of joints.")
+
+    def run(self):
+        rospy.spin()
+
+if __name__ == '__main__':
+    try:
+        relay = JointStateRelay()
+        relay.run()
+    except rospy.ROSInterruptException:
+        pass

Piper_ros_private-ros-noetic/src/piper_description/urdf/piper_description.csv

@@ -0,0 +1,10 @@
+Link Name,Center of Mass X,Center of Mass Y,Center of Mass Z,Center of Mass Roll,Center of Mass Pitch,Center of Mass Yaw,Mass,Moment Ixx,Moment Ixy,Moment Ixz,Moment Iyy,Moment Iyz,Moment Izz,Visual X,Visual Y,Visual Z,Visual Roll,Visual Pitch,Visual Yaw,Mesh Filename,Color Red,Color Green,Color Blue,Color Alpha,Collision X,Collision Y,Collision Z,Collision Roll,Collision Pitch,Collision Yaw,Collision Mesh Filename,Material Name,SW Components,Coordinate System,Axis Name,Joint Name,Joint Type,Joint Origin X,Joint Origin Y,Joint Origin Z,Joint Origin Roll,Joint Origin Pitch,Joint Origin Yaw,Parent,Joint Axis X,Joint Axis Y,Joint Axis Z,Limit Effort,Limit Velocity,Limit Lower,Limit Upper,Calibration rising,Calibration falling,Dynamics Damping,Dynamics Friction,Safety Soft Upper,Safety Soft Lower,Safety K Position,Safety K Velocity
+base_link,-0.00973928490005031,1.8312708928633E-06,0.0410140167677137,0,0,0,0.162352169522719,0.000226592553127906,-7.33974356968813E-08,2.13221970218123E-06,0.000269447877479622,8.15167478685076E-09,0.000222318286704,0,0,0,0,0,0,package://piper_description/meshes/base_link.STL,0.792156862745098,0.819607843137255,0.933333333333333,1,0,0,0,0,0,0,package://piper_description/meshes/base_link.STL,,base_link-1,base_link_axis,,,,0,0,0,0,0,0,,0,0,0,,,,,,,,,,,,
+link1,0.00131676031927021,0.000310288842008364,-0.00922874512303438,0,0,0,0.0978679932242825,7.76684558296781E-05,1.09084650459916E-07,-1.97480532432411E-06,9.24967780161546E-05,9.91284646834672E-07,8.24589062407806E-05,0,0,0,0,0,0,package://piper_description/meshes/link1.STL,0.792156862745098,0.819607843137255,0.933333333333333,1,0,0,0,0,0,0,package://piper_description/meshes/link1.STL,,link1-1,link1_axis,基准轴1,joint1,revolute,0,0,0.123,0,0,-1.5708,base_link,0,0,1,100,0,-3.14,3.14,,,,,,,,
+link2,0.147615838821413,-0.0174259998251393,0.00175952516190707,0,0,0,0.289571136953082,0.000150112628108228,8.58974959950769E-05,-1.07428153464285E-06,0.00172585302855383,-9.93704792239686E-07,0.00177445942914759,0,0,0,0,0,0,package://piper_description/meshes/link2.STL,0.792156862745098,0.819607843137255,0.933333333333333,1,0,0,0,0,0,0,package://piper_description/meshes/link2.STL,,link2-1,link2_axis,基准轴2,joint2,revolute,0,0,0,1.5708,-0.10095,-1.5708,link1,0,0,-1,100,1,-3.14,3.14,,,,,,,,
+link3,0.0156727246030052,0.104466514905741,0.000508486764144372,0,0,0,0.290583247455324,0.000221686352136266,-7.57426543992343E-06,-6.3700062772173E-07,0.000100859162015934,-8.16202696860781E-07,0.000241839316548946,0,0,0,0,0,0,package://piper_description/meshes/link3.STL,0.792156862745098,0.819607843137255,0.933333333333333,1,0,0,0,0,0,0,package://piper_description/meshes/link3.STL,,link3-1,link3_axis,基准轴3,joint3,revolute,0.28503,0,0,0,0,1.3826,link2,0,0,1,100,1,-3.14,3.14,,,,,,,,
+link4,0.000276464622388145,-0.00102803669324853,-0.00472830700561612,0,0,0,0.127087348341362,3.82011730423098E-05,-4.92358351033589E-08,4.89589432983109E-08,4.87048555222491E-05,6.70802942486707E-08,4.10592077565155E-05,0,0,0,0,0,0,package://piper_description/meshes/link4.STL,0.792156862745098,0.819607843137255,0.933333333333333,1,0,0,0,0,0,0,package://piper_description/meshes/link4.STL,,link4-2,link4_axis,基准轴4,joint4,revolute,0.021984,0.25075,0,-1.5708,0,0,link3,0,0,-1,100,1,-3.14,3.14,,,,,,,,
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Piper_ros_private-ros-noetic/src/piper_description/urdf/piper_description.urdf

@@ -0,0 +1,510 @@
+<?xml version="1.0" encoding="utf-8"?>
+<robot
+  name="piper_description">
+  <link
+    name="base_link">
+    <inertial>
+      <origin
+        xyz="-0.00973928490005031 1.8312708928633E-06 0.0410140167677137"
+        rpy="0 0 0" />
+      <mass
+        value="0.162352169522719" />
+      <inertia
+        ixx="0.000226592553127906"
+        ixy="-7.33974356968813E-08"
+        ixz="2.13221970218123E-06"
+        iyy="0.000269447877479622"
+        iyz="8.15167478685076E-09"
+        izz="0.000222318286704" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/base_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/base_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link
+    name="link1">
+    <inertial>
+      <origin
+        xyz="0.00131676031927021 0.000310288842008364 -0.00922874512303438"
+        rpy="0 0 0" />
+      <mass
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+      <inertia
+        ixx="7.76684558296781E-05"
+        ixy="1.09084650459916E-07"
+        ixz="-1.97480532432411E-06"
+        iyy="9.24967780161546E-05"
+        iyz="9.91284646834672E-07"
+        izz="8.24589062407806E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link1.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint1"
+    type="revolute">
+    <origin
+      xyz="0 0 0.123"
+      rpy="0 0 -1.5708" />
+    <parent
+      link="base_link" />
+    <child
+      link="link1" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-2.618"
+      upper="2.618"
+      effort="100"
+      velocity="0" />
+  </joint>
+  <link
+    name="link2">
+    <inertial>
+      <origin
+        xyz="0.147615838821413 -0.0174259998251393 0.00175952516190707"
+        rpy="0 0 0" />
+      <mass
+        value="0.289571136953082" />
+      <inertia
+        ixx="0.000150112628108228"
+        ixy="8.58974959950769E-05"
+        ixz="-1.07428153464285E-06"
+        iyy="0.00172585302855383"
+        iyz="-9.93704792239686E-07"
+        izz="0.00177445942914759" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link2.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint2"
+    type="revolute">
+    <origin
+      xyz="0 0 0"
+      rpy="1.5708 -0.10095 -1.5708" />
+    <parent
+      link="link1" />
+    <child
+      link="link2" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="0"
+      upper="3.14"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="link3">
+    <inertial>
+      <origin
+        xyz="0.0156727246030052 0.104466514905741 0.000508486764144372"
+        rpy="0 0 0" />
+      <mass
+        value="0.290583247455324" />
+      <inertia
+        ixx="0.000221686352136266"
+        ixy="-7.57426543992343E-06"
+        ixz="-6.3700062772173E-07"
+        iyy="0.000100859162015934"
+        iyz="-8.16202696860781E-07"
+        izz="0.000241839316548946" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link3.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link3.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint3"
+    type="revolute">
+    <origin
+      xyz="0.28503 0 0"
+      rpy="0 0 1.3826" />
+    <parent
+      link="link2" />
+    <child
+      link="link3" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-2.967"
+      upper="0"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="link4">
+    <inertial>
+      <origin
+        xyz="0.000276464622388145 -0.00102803669324853 -0.00472830700561612"
+        rpy="0 0 0" />
+      <mass
+        value="0.127087348341362" />
+      <inertia
+        ixx="3.82011730423098E-05"
+        ixy="-4.92358351033589E-08"
+        ixz="4.89589432983109E-08"
+        iyy="4.87048555222491E-05"
+        iyz="6.70802942486707E-08"
+        izz="4.10592077565155E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link4.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link4.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint4"
+    type="revolute">
+    <origin
+      xyz="0.021984 0.25075 0"
+      rpy="-1.5708 0 0" />
+    <parent
+      link="link3" />
+    <child
+      link="link4" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="-1.832"
+      upper="1.832"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="link5">
+    <inertial>
+      <origin
+        xyz="8.82261259100015E-05 0.056682908434204 -0.00196119077436732"
+        rpy="0 0 0" />
+      <mass
+        value="0.144711209371719" />
+      <inertia
+        ixx="4.39644269159173E-05"
+        ixy="-3.59214840853815E-08"
+        ixz="-1.89785003257649E-08"
+        iyy="5.63173857792457E-05"
+        iyz="-2.15407623722543E-07"
+        izz="4.88713595021005E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link5.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link5.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint5"
+    type="revolute">
+    <origin
+      xyz="0 0 0"
+      rpy="1.5708 -0.087266 0" />
+    <parent
+      link="link4" />
+    <child
+      link="link5" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-1.22"
+      upper="1.22"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="link6">
+    <inertial>
+      <origin
+        xyz="9.41121070072333E-09 0.000341209775988838 0.0342122921883722"
+        rpy="0 0 0" />
+      <mass
+        value="0.150196458571266" />
+      <inertia
+        ixx="4.31750564711759E-05"
+        ixy="-2.21295720427027E-08"
+        ixz="-3.27825836857102E-12"
+        iyy="9.99756357365307E-05"
+        iyz="1.10337380549335E-07"
+        izz="0.000118282295533688" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link6.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link6.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint6"
+    type="revolute">
+    <origin
+      xyz="0 0.091 0.0014165"
+      rpy="-1.5708 -1.5708 0" />
+    <parent
+      link="link5" />
+    <child
+      link="link6" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="-3.14"
+      upper="3.14"
+      effort="100"
+      velocity="1" />
+  </joint>
+
+  <link
+    name="link7">
+    <inertial>
+      <origin
+        xyz="-0.000277795893713934 -0.046767350270289 -0.00921029791141448"
+        rpy="0 0 0" />
+      <mass
+        value="0.0264822500394006" />
+      <inertia
+        ixx="9.99782519244544E-06"
+        ixy="-1.57547595978589E-07"
+        ixz="-2.71355785017816E-08"
+        iyy="6.17952364356547E-06"
+        iyz="-1.58939504838734E-06"
+        izz="1.42102253390315E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link7.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link7.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint7"
+    type="prismatic">
+    <origin
+      xyz="0 0 0.13503"
+      rpy="1.5708 0 1.5708" />
+    <parent
+      link="link6" />
+    <child
+      link="link7" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="-0.038"
+      upper="0"
+      effort="100"
+      velocity="1" />
+  </joint>
+
+  <link
+    name="link8">
+    <inertial>
+      <origin
+        xyz="0.000277795911672651 0.0467673513153836 -0.00921029799058583"
+        rpy="0 0 0" />
+      <mass
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+        ixx="9.99782474142963E-06"
+        ixy="-1.57547666236405E-07"
+        ixz="2.71355834243046E-08"
+        iyy="6.17952362333486E-06"
+        iyz="1.58939503259658E-06"
+        izz="1.42102248648757E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link8.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link8.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint8"
+    type="prismatic">
+    <origin
+      xyz="0 0 0.13503"
+      rpy="-1.5708 0 1.5708" />
+    <parent
+      link="link6" />
+    <child
+      link="link8" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="0"
+      upper="0.038"
+      effort="100"
+      velocity="1" />
+  </joint>
+</robot>

Piper_ros_private-ros-noetic/src/piper_description/urdf/piper_description.xacro

@@ -0,0 +1,584 @@
+<?xml version="1.0" encoding="utf-8"?>
+<robot
+  name="arm"
+  xmlns:xacro="http://ros.org/wiki/xacro">
+<!-- world -->
+  <link name="world"/>
+  <joint name="fixed_base_joint" type="fixed">
+      <parent link="world"/>
+      <child link="base_link"/>
+  </joint>
+<!-- arm -->
+  <link
+    name="base_link">
+    <inertial>
+      <origin
+        xyz="-0.00973928490005031 1.8312708928633E-06 0.0410140167677137"
+        rpy="0 0 0" />
+      <mass
+        value="0.00001" />
+      <inertia
+        ixx="0.000226592553127906"
+        ixy="-7.33974356968813E-08"
+        ixz="2.13221970218123E-06"
+        iyy="0.000269447877479622"
+        iyz="8.15167478685076E-09"
+        izz="0.000222318286704" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/base_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/base_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link
+    name="link1">
+    <inertial>
+      <origin
+        xyz="0.00131676031927021 0.000310288842008364 -0.00922874512303438"
+        rpy="0 0 0" />
+      <mass
+        value="0.00001" />
+      <inertia
+        ixx="7.76684558296781E-05"
+        ixy="1.09084650459916E-07"
+        ixz="-1.97480532432411E-06"
+        iyy="9.24967780161546E-05"
+        iyz="9.91284646834672E-07"
+        izz="8.24589062407806E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link1.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint1"
+    type="revolute">
+    <origin
+      xyz="0 0 0.123"
+      rpy="0 0 -1.5708" />
+    <parent
+      link="base_link" />
+    <child
+      link="link1" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-2.618"
+      upper="2.618"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="link2">
+    <inertial>
+      <origin
+        xyz="0.147615838821413 -0.0174259998251393 0.00175952516190707"
+        rpy="0 0 0" />
+      <mass
+        value="0.00001" />
+      <inertia
+        ixx="0.000150112628108228"
+        ixy="8.58974959950769E-05"
+        ixz="-1.07428153464285E-06"
+        iyy="0.00172585302855383"
+        iyz="-9.93704792239686E-07"
+        izz="0.00177445942914759" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link2.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint2"
+    type="revolute">
+    <origin
+      xyz="0 0 0"
+      rpy="1.5708 -0.10095 -1.5708" />
+    <parent
+      link="link1" />
+    <child
+      link="link2" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="0"
+      upper="3.14"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="link3">
+    <inertial>
+      <origin
+        xyz="0.0156727246030052 0.104466514905741 0.000508486764144372"
+        rpy="0 0 0" />
+      <mass
+        value="0.00001" />
+      <inertia
+        ixx="0.000221686352136266"
+        ixy="-7.57426543992343E-06"
+        ixz="-6.3700062772173E-07"
+        iyy="0.000100859162015934"
+        iyz="-8.16202696860781E-07"
+        izz="0.000241839316548946" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link3.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link3.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint3"
+    type="revolute">
+    <origin
+      xyz="0.28503 0 0"
+      rpy="0 0 1.3826" />
+    <parent
+      link="link2" />
+    <child
+      link="link3" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-2.967"
+      upper="0"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="link4">
+    <inertial>
+      <origin
+        xyz="0.000276464622388145 -0.00102803669324853 -0.00472830700561612"
+        rpy="0 0 0" />
+      <mass
+        value="0.00001" />
+      <inertia
+        ixx="3.82011730423098E-05"
+        ixy="-4.92358351033589E-08"
+        ixz="4.89589432983109E-08"
+        iyy="4.87048555222491E-05"
+        iyz="6.70802942486707E-08"
+        izz="4.10592077565155E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link4.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link4.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint4"
+    type="revolute">
+    <origin
+      xyz="0.021984 0.25075 0"
+      rpy="-1.5708 0 0" />
+    <parent
+      link="link3" />
+    <child
+      link="link4" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="-1.832"
+      upper="1.832"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="link5">
+    <inertial>
+      <origin
+        xyz="8.82261259100015E-05 0.056682908434204 -0.00196119077436732"
+        rpy="0 0 0" />
+      <mass
+        value="0.00001" />
+      <inertia
+        ixx="4.39644269159173E-05"
+        ixy="-3.59214840853815E-08"
+        ixz="-1.89785003257649E-08"
+        iyy="5.63173857792457E-05"
+        iyz="-2.15407623722543E-07"
+        izz="4.88713595021005E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link5.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link5.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint5"
+    type="revolute">
+    <origin
+      xyz="0 0 0"
+      rpy="1.5708 -0.087266 0" />
+    <parent
+      link="link4" />
+    <child
+      link="link5" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-1.22"
+      upper="1.22"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="link6">
+    <inertial>
+      <origin
+        xyz="9.41121070072333E-09 0.000341209775988838 0.0342122921883722"
+        rpy="0 0 0" />
+      <mass
+        value="0.00001" />
+      <inertia
+        ixx="4.31750564711759E-05"
+        ixy="-2.21295720427027E-08"
+        ixz="-3.27825836857102E-12"
+        iyy="9.99756357365307E-05"
+        iyz="1.10337380549335E-07"
+        izz="0.000118282295533688" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link6.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link6.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint6"
+    type="revolute">
+    <origin
+      xyz="0 0.091 0.0014165"
+      rpy="-1.5708 -1.5708 0" />
+    <parent
+      link="link5" />
+    <child
+      link="link6" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="-3.14"
+      upper="3.14"
+      effort="100"
+      velocity="1" />
+  </joint>
+
+  <link
+    name="link7">
+    <inertial>
+      <origin
+        xyz="-0.000277795893713934 -0.046767350270289 -0.00921029791141448"
+        rpy="0 0 0" />
+      <mass
+        value="0.00001" />
+      <inertia
+        ixx="9.99782519244544E-06"
+        ixy="-1.57547595978589E-07"
+        ixz="-2.71355785017816E-08"
+        iyy="6.17952364356547E-06"
+        iyz="-1.58939504838734E-06"
+        izz="1.42102253390315E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link7.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link7.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint7"
+    type="prismatic">
+    <origin
+      xyz="0 0 0.13503"
+      rpy="1.5708 0 1.5708" />
+    <parent
+      link="link6" />
+    <child
+      link="link7" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="0"
+      upper="0.038"
+      effort="100"
+      velocity="1" />
+  </joint>
+
+  <link
+    name="link8">
+    <inertial>
+      <origin
+        xyz="0.000277795911672651 0.0467673513153836 -0.00921029799058583"
+        rpy="0 0 0" />
+      <mass
+        value="0.00001" />
+      <inertia
+        ixx="9.99782474142963E-06"
+        ixy="-1.57547666236405E-07"
+        ixz="2.71355834243046E-08"
+        iyy="6.17952362333486E-06"
+        iyz="1.58939503259658E-06"
+        izz="1.42102248648757E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link8.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link8.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint8"
+    type="prismatic">
+    <origin
+      xyz="0 0 0.13503"
+      rpy="-1.5708 0 1.5708" />
+    <parent
+      link="link6" />
+    <child
+      link="link8" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-0.038"
+      upper="0"
+      effort="300"
+      velocity="1" />
+  </joint>
+
+<!-- controller -->
+  <xacro:macro name="transmission_block" params="tran_name joint_name motor_name">
+    <transmission name="${tran_name}">
+        <type>transmission_interface/SimpleTransmission</type>
+        <joint name="${joint_name}">
+            <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+        </joint>
+        <actuator name="$motor_name">
+            <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+            <mechanicalReduction>1</mechanicalReduction>
+        </actuator>
+    </transmission>
+  </xacro:macro>
+
+  <xacro:transmission_block tran_name="tran1" joint_name="joint1" motor_name="motor1"/>
+  <xacro:transmission_block tran_name="tran2" joint_name="joint2" motor_name="motor2"/>
+  <xacro:transmission_block tran_name="tran3" joint_name="joint3" motor_name="motor3"/>
+  <xacro:transmission_block tran_name="tran4" joint_name="joint4" motor_name="motor4"/>
+  <xacro:transmission_block tran_name="tran5" joint_name="joint5" motor_name="motor5"/>
+  <xacro:transmission_block tran_name="tran6" joint_name="joint6" motor_name="motor6"/>
+  <xacro:transmission_block tran_name="tran7" joint_name="joint7" motor_name="motor7"/>
+  <xacro:transmission_block tran_name="tran8" joint_name="joint8" motor_name="motor8"/>
+<!-- gazebo -->
+  <gazebo>
+    <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
+        <robotNamespace>/piper_description</robotNamespace>
+        <legacyModeNS>true</legacyModeNS>
+    </plugin>
+  </gazebo>
+ 
+  <gazebo reference="base_link">
+    <material>Gazebo/Black</material>
+  </gazebo>
+
+  <gazebo reference="link1">
+    <material>Gazebo/White</material>
+  </gazebo>
+ 
+  <gazebo reference="link2">
+    <material>Gazebo/White</material>
+  </gazebo>
+
+  <gazebo reference="link3">
+    <material>Gazebo/White</material>
+  </gazebo>
+ 
+  <gazebo reference="link4">
+    <material>Gazebo/Black</material>
+  </gazebo>
+ 
+  <gazebo reference="link5">
+    <material>Gazebo/White</material>
+  </gazebo>
+ 
+  <gazebo reference="link6">
+    <material>Gazebo/White</material>
+  </gazebo>
+ 
+  <gazebo reference="link7">
+    <material>Gazebo/Orange</material>
+  </gazebo>
+ 
+  <gazebo reference="link8">
+    <material>Gazebo/Orange</material>
+  </gazebo>
+</robot>

Piper_ros_private-ros-noetic/src/piper_description/worlds/empty.world

@@ -0,0 +1,29 @@
+<?xml version="1.0" ?>
+<sdf version="1.4">
+  <world name="default">
+    <!-- A global light source -->
+    <include>
+      <uri>model://sun</uri>
+    </include>
+
+    <!-- A ground plane -->
+    <include>
+      <uri>model://ground_plane</uri>
+    </include>
+
+    <!-- Physics -->
+    <physics type='ode'>
+      <max_step_size>0.01</max_step_size>
+      <real_time_factor>1</real_time_factor>
+      <real_time_update_rate>100</real_time_update_rate>
+      <gravity>0 0 -9.8</gravity>
+      <ode>
+        <solver>
+          <type>quick</type>
+          <iters>500</iters>
+          <sor>1.3</sor>
+        </solver>
+      </ode>
+    </physics>
+  </world>
+</sdf>

Piper_ros_private-ros-noetic/src/piper_msgs/msg/PiperStatusMsg.msg

@@ -0,0 +1,20 @@
+uint8 ctrl_mode
+uint8 arm_status
+uint8 mode_feedback
+uint8 teach_status
+uint8 motion_status
+uint8 trajectory_num
+int64 err_code
+bool joint_1_angle_limit
+bool joint_2_angle_limit
+bool joint_3_angle_limit
+bool joint_4_angle_limit
+bool joint_5_angle_limit
+bool joint_6_angle_limit
+bool communication_status_joint_1
+bool communication_status_joint_2
+bool communication_status_joint_3
+bool communication_status_joint_4
+bool communication_status_joint_5
+bool communication_status_joint_6
+

Piper_ros_private-ros-noetic/src/piper_msgs/msg/PosCmd.msg

@@ -0,0 +1,9 @@
+float64 x
+float64 y
+float64 z
+float64 roll
+float64 pitch
+float64 yaw
+float64 gripper
+int32 mode1
+int32 mode2

camera_ws/.catkin_workspace

@@ -0,0 +1 @@
+# This file currently only serves to mark the location of a catkin workspace for tool integration

camera_ws/build/.built_by

@@ -0,0 +1 @@
+catkin_make

camera_ws/build/CMakeCache.txt

@@ -0,0 +1,998 @@
+# This is the CMakeCache file.
+# For build in directory: /home/agilex/cobot_magic/camera_ws/build
+# It was generated by CMake: /usr/bin/cmake
+# You can edit this file to change values found and used by cmake.
+# If you do not want to change any of the values, simply exit the editor.
+# If you do want to change a value, simply edit, save, and exit the editor.
+# The syntax for the file is as follows:
+# KEY:TYPE=VALUE
+# KEY is the name of a variable in the cache.
+# TYPE is a hint to GUIs for the type of VALUE, DO NOT EDIT TYPE!.
+# VALUE is the current value for the KEY.
+
+########################
+# EXTERNAL cache entries
+########################
+
+//Builds the googlemock subproject
+BUILD_GMOCK:BOOL=ON
+
+//Build dynamically-linked binaries
+BUILD_SHARED_LIBS:BOOL=ON
+
+//Use OpenMP
+BUILD_WITH_OPENMP:BOOL=OFF
+
+//The directory containing a CMake configuration file for Boost.
+Boost_DIR:PATH=/usr/lib/x86_64-linux-gnu/cmake/Boost-1.71.0
+
+//Path to a file.
+Boost_INCLUDE_DIR:PATH=/usr/include
+
+//List of ';' separated packages to exclude
+CATKIN_BLACKLIST_PACKAGES:STRING=
+
+//catkin devel space
+CATKIN_DEVEL_PREFIX:PATH=/home/agilex/cobot_magic/camera_ws/devel
+
+//Catkin enable testing
+CATKIN_ENABLE_TESTING:BOOL=ON
+
+//Catkin skip testing
+CATKIN_SKIP_TESTING:BOOL=OFF
+
+//Replace the CMake install command with a custom implementation
+// using symlinks instead of copying resources
+CATKIN_SYMLINK_INSTALL:BOOL=OFF
+
+//List of ';' separated packages to build
+CATKIN_WHITELIST_PACKAGES:STRING=
+
+//Path to a program.
+CMAKE_ADDR2LINE:FILEPATH=/usr/bin/addr2line
+
+//Path to a program.
+CMAKE_AR:FILEPATH=/usr/bin/ar
+
+//Choose the type of build, options are: None Debug Release RelWithDebInfo
+// MinSizeRel ...
+CMAKE_BUILD_TYPE:STRING=
+
+//Enable/Disable color output during build.
+CMAKE_COLOR_MAKEFILE:BOOL=ON
+
+//CXX compiler
+CMAKE_CXX_COMPILER:FILEPATH=/usr/bin/c++
+
+//A wrapper around 'ar' adding the appropriate '--plugin' option
+// for the GCC compiler
+CMAKE_CXX_COMPILER_AR:FILEPATH=/usr/bin/gcc-ar-9
+
+//A wrapper around 'ranlib' adding the appropriate '--plugin' option
+// for the GCC compiler
+CMAKE_CXX_COMPILER_RANLIB:FILEPATH=/usr/bin/gcc-ranlib-9
+
+//Flags used by the CXX compiler during all build types.
+CMAKE_CXX_FLAGS:STRING=
+
+//Flags used by the CXX compiler during DEBUG builds.
+CMAKE_CXX_FLAGS_DEBUG:STRING=-g
+
+//Flags used by the CXX compiler during MINSIZEREL builds.
+CMAKE_CXX_FLAGS_MINSIZEREL:STRING=-Os -DNDEBUG
+
+//Flags used by the CXX compiler during RELEASE builds.
+CMAKE_CXX_FLAGS_RELEASE:STRING=-O3 -DNDEBUG
+
+//Flags used by the CXX compiler during RELWITHDEBINFO builds.
+CMAKE_CXX_FLAGS_RELWITHDEBINFO:STRING=-O2 -g -DNDEBUG
+
+//C compiler
+CMAKE_C_COMPILER:FILEPATH=/usr/bin/cc
+
+//A wrapper around 'ar' adding the appropriate '--plugin' option
+// for the GCC compiler
+CMAKE_C_COMPILER_AR:FILEPATH=/usr/bin/gcc-ar-9
+
+//A wrapper around 'ranlib' adding the appropriate '--plugin' option
+// for the GCC compiler
+CMAKE_C_COMPILER_RANLIB:FILEPATH=/usr/bin/gcc-ranlib-9
+
+//Flags used by the C compiler during all build types.
+CMAKE_C_FLAGS:STRING=
+
+//Flags used by the C compiler during DEBUG builds.
+CMAKE_C_FLAGS_DEBUG:STRING=-g
+
+//Flags used by the C compiler during MINSIZEREL builds.
+CMAKE_C_FLAGS_MINSIZEREL:STRING=-Os -DNDEBUG
+
+//Flags used by the C compiler during RELEASE builds.
+CMAKE_C_FLAGS_RELEASE:STRING=-O3 -DNDEBUG
+
+//Flags used by the C compiler during RELWITHDEBINFO builds.
+CMAKE_C_FLAGS_RELWITHDEBINFO:STRING=-O2 -g -DNDEBUG
+
+//Path to a program.
+CMAKE_DLLTOOL:FILEPATH=CMAKE_DLLTOOL-NOTFOUND
+
+//Flags used by the linker during all build types.
+CMAKE_EXE_LINKER_FLAGS:STRING=
+
+//Flags used by the linker during DEBUG builds.
+CMAKE_EXE_LINKER_FLAGS_DEBUG:STRING=
+
+//Flags used by the linker during MINSIZEREL builds.
+CMAKE_EXE_LINKER_FLAGS_MINSIZEREL:STRING=
+
+//Flags used by the linker during RELEASE builds.
+CMAKE_EXE_LINKER_FLAGS_RELEASE:STRING=
+
+//Flags used by the linker during RELWITHDEBINFO builds.
+CMAKE_EXE_LINKER_FLAGS_RELWITHDEBINFO:STRING=
+
+//Enable/Disable output of compile commands during generation.
+CMAKE_EXPORT_COMPILE_COMMANDS:BOOL=OFF
+
+//User executables (bin)
+CMAKE_INSTALL_BINDIR:PATH=bin
+
+//Read-only architecture-independent data (DATAROOTDIR)
+CMAKE_INSTALL_DATADIR:PATH=
+
+//Read-only architecture-independent data root (share)
+CMAKE_INSTALL_DATAROOTDIR:PATH=share
+
+//Documentation root (DATAROOTDIR/doc/PROJECT_NAME)
+CMAKE_INSTALL_DOCDIR:PATH=
+
+//C header files (include)
+CMAKE_INSTALL_INCLUDEDIR:PATH=include
+
+//Info documentation (DATAROOTDIR/info)
+CMAKE_INSTALL_INFODIR:PATH=
+
+//Object code libraries (lib)
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+
+//Value Computed by CMake
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+
+//The directory containing a CMake configuration file for bond.
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+
+//The directory containing a CMake configuration file for bondcpp.
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+
+//The directory containing a CMake configuration file for boost_headers.
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+//The directory containing a CMake configuration file for camera_calibration_parsers.
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+
+//The directory containing a CMake configuration file for camera_info_manager.
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+
+//The directory containing a CMake configuration file for catkin.
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+
+//The directory containing a CMake configuration file for class_loader.
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+
+//The directory containing a CMake configuration file for cpp_common.
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+
+//The directory containing a CMake configuration file for cv_bridge.
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+
+//The directory containing a CMake configuration file for ddynamic_reconfigure.
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+
+//The directory containing a CMake configuration file for diagnostic_msgs.
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+//The directory containing a CMake configuration file for diagnostic_updater.
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+//The directory containing a CMake configuration file for dynamic_reconfigure.
+dynamic_reconfigure_DIR:PATH=/opt/ros/noetic/share/dynamic_reconfigure/cmake
+
+//The directory containing a CMake configuration file for gencpp.
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+
+//The directory containing a CMake configuration file for geneus.
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+
+//The directory containing a CMake configuration file for genlisp.
+genlisp_DIR:PATH=/opt/ros/noetic/share/genlisp/cmake
+
+//The directory containing a CMake configuration file for genmsg.
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+
+//The directory containing a CMake configuration file for gennodejs.
+gennodejs_DIR:PATH=/opt/ros/noetic/share/gennodejs/cmake
+
+//The directory containing a CMake configuration file for genpy.
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+
+//The directory containing a CMake configuration file for geometry_msgs.
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+
+//Value Computed by CMake
+gmock_BINARY_DIR:STATIC=/home/agilex/cobot_magic/camera_ws/build/gtest/googlemock
+
+//Dependencies for the target
+gmock_LIB_DEPENDS:STATIC=general;gtest;
+
+//Value Computed by CMake
+gmock_SOURCE_DIR:STATIC=/usr/src/googletest/googlemock
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+//Build all of Google Mock's own tests.
+gmock_build_tests:BOOL=OFF
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+//Dependencies for the target
+gmock_main_LIB_DEPENDS:STATIC=general;gmock;
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+//Value Computed by CMake
+googletest-distribution_BINARY_DIR:STATIC=/home/agilex/cobot_magic/camera_ws/build/gtest
+
+//Value Computed by CMake
+googletest-distribution_SOURCE_DIR:STATIC=/usr/src/googletest
+
+//Value Computed by CMake
+gtest_BINARY_DIR:STATIC=/home/agilex/cobot_magic/camera_ws/build/gtest/googletest
+
+//Value Computed by CMake
+gtest_SOURCE_DIR:STATIC=/usr/src/googletest/googletest
+
+//Build gtest's sample programs.
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+//Build all of gtest's own tests.
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+gtest_hide_internal_symbols:BOOL=OFF
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+//Dependencies for the target
+gtest_main_LIB_DEPENDS:STATIC=general;gtest;
+
+//The directory containing a CMake configuration file for image_geometry.
+image_geometry_DIR:PATH=/opt/ros/noetic/share/image_geometry/cmake
+
+//The directory containing a CMake configuration file for image_transport.
+image_transport_DIR:PATH=/opt/ros/noetic/share/image_transport/cmake
+
+//Path to a library.
+lib:FILEPATH=/opt/ros/noetic/lib/libdiagnostic_updater.so
+
+//The directory containing a CMake configuration file for message_filters.
+message_filters_DIR:PATH=/opt/ros/noetic/share/message_filters/cmake
+
+//The directory containing a CMake configuration file for message_generation.
+message_generation_DIR:PATH=/opt/ros/noetic/share/message_generation/cmake
+
+//The directory containing a CMake configuration file for message_runtime.
+message_runtime_DIR:PATH=/opt/ros/noetic/share/message_runtime/cmake
+
+//The directory containing a CMake configuration file for nav_msgs.
+nav_msgs_DIR:PATH=/opt/ros/noetic/share/nav_msgs/cmake
+
+//The directory containing a CMake configuration file for nodelet.
+nodelet_DIR:PATH=/opt/ros/noetic/share/nodelet/cmake
+
+//Path to a library.
+pkgcfg_lib_GLOG_glog:FILEPATH=/usr/lib/x86_64-linux-gnu/libglog.so
+
+//Path to a library.
+pkgcfg_lib_LIBUVC_usb-1.0:FILEPATH=/usr/lib/x86_64-linux-gnu/libusb-1.0.so
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