Merge pull request #525 from tongtybj/develop/robot_model

[Robot Model] refactor the robot modelling framework
jsk-ros-pkg · Jul 1, 2023 · fa7596c · fa7596c
2 parents e1a4533 + 8096f1f
commit fa7596c
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Showing 38 changed files with 1,544 additions and 1,156 deletions.
diff --git a/aerial_robot_base/include/aerial_robot_base/aerial_robot_base.h b/aerial_robot_base/include/aerial_robot_base/aerial_robot_base.h
@@ -6,7 +6,7 @@
 #include <aerial_robot_control/control/control_base.h>
 #include <aerial_robot_control/flight_navigation.h>
 #include <aerial_robot_estimation/state_estimation.h>
-#include <aerial_robot_model/transformable_aerial_robot_model_ros.h>
+#include <aerial_robot_model/model/aerial_robot_model_ros.h>
 
 using namespace std;
 

diff --git a/aerial_robot_control/include/aerial_robot_control/control/control_base.h b/aerial_robot_control/include/aerial_robot_control/control/control_base.h
@@ -38,7 +38,7 @@
 
 #include <aerial_robot_control/flight_navigation.h>
 #include <aerial_robot_estimation/state_estimation.h>
-#include <aerial_robot_model/transformable_aerial_robot_model.h>
+#include <aerial_robot_model/model/aerial_robot_model.h>
 #include <ros/ros.h>
 #include <spinal/PwmInfo.h>
 #include <spinal/UavInfo.h>

diff --git a/aerial_robot_estimation/include/aerial_robot_estimation/state_estimation.h b/aerial_robot_estimation/include/aerial_robot_estimation/state_estimation.h
@@ -35,7 +35,7 @@
 
 #pragma once
 
-#include <aerial_robot_model/transformable_aerial_robot_model.h>
+#include <aerial_robot_model/model/aerial_robot_model.h>
 #include <aerial_robot_msgs/States.h>
 #include <array>
 #include <assert.h>

diff --git a/aerial_robot_model/CMakeLists.txt b/aerial_robot_model/CMakeLists.txt
@@ -52,7 +52,7 @@ generate_messages(
 
 catkin_package(
   INCLUDE_DIRS include test
-  LIBRARIES transformable_aerial_robot_model transformable_aerial_robot_model_ros numerical_jacobians
+  LIBRARIES aerial_robot_model aerial_robot_model_ros numerical_jacobians robot_model_pluginlib
   CATKIN_DEPENDS eigen_conversions geometry_msgs interactive_markers kalman_filter kdl_parser message_runtime pluginlib sensor_msgs spinal std_msgs tf tf_conversions tf2_eigen tf2_geometry_msgs tf2_kdl tf2_ros tf_conversions urdf visualization_msgs
   DEPENDS orocos_kdl urdfdom_headers
 )
@@ -73,17 +73,24 @@ include_directories(
   ${EIGEN3_INCLUDE_DIRS}
 )
 
-add_library(transformable_aerial_robot_model
-  src/transformable_aerial_robot_model/robot_model.cpp
-  src/transformable_aerial_robot_model/jacobians.cpp
-  src/transformable_aerial_robot_model/kinematics.cpp
-  src/transformable_aerial_robot_model/stability.cpp
-  src/transformable_aerial_robot_model/statics.cpp)
-target_link_libraries(transformable_aerial_robot_model ${catkin_LIBRARIES} ${orocos_kdl_LIBRARIES} ${EIGEN3_LIBRARIES})
 
-add_library(transformable_aerial_robot_model_ros src/transformable_aerial_robot_model/robot_model_ros.cpp)
-target_link_libraries(transformable_aerial_robot_model_ros transformable_aerial_robot_model ${catkin_LIBRARIES} ${orocos_kdl_LIBRARIES} ${EIGEN3_LIBRARIES})
-add_dependencies(transformable_aerial_robot_model_ros ${PROJECT_NAME}_generate_messages_cpp spinal_generate_messages_cpp)
+add_library(aerial_robot_model
+  src/model/base_model/robot_model.cpp
+  src/model/transformable_model/robot_model.cpp
+  src/model/transformable_model/jacobians.cpp
+  src/model/transformable_model/kinematics.cpp
+  src/model/transformable_model/stability.cpp
+  src/model/transformable_model/statics.cpp)
+target_link_libraries(aerial_robot_model ${catkin_LIBRARIES} ${orocos_kdl_LIBRARIES} ${EIGEN3_LIBRARIES})
+
+add_library(aerial_robot_model_ros src/model/base_model/robot_model_ros.cpp)
+target_link_libraries(aerial_robot_model_ros aerial_robot_model ${catkin_LIBRARIES} ${orocos_kdl_LIBRARIES} ${EIGEN3_LIBRARIES})
+add_dependencies(aerial_robot_model_ros ${PROJECT_NAME}_generate_messages_cpp spinal_generate_messages_cpp)
+
+add_library(robot_model_pluginlib
+  src/model/plugin/multirotor_robot_model.cpp
+  src/model/plugin/tilted_underactuated_robot_model.cpp)
+target_link_libraries(robot_model_pluginlib ${catkin_LIBRARIES} aerial_robot_model)
 
 add_library(servo_bridge src/servo_bridge/servo_bridge.cpp)
 target_link_libraries(servo_bridge ${catkin_LIBRARIES})
@@ -98,21 +105,21 @@ target_link_libraries(interactive_marker_tf_broadcaster ${catkin_LIBRARIES})
 
 ## for rostest
 add_library(numerical_jacobians test/aerial_robot_model/numerical_jacobians.cpp)
-target_link_libraries(numerical_jacobians transformable_aerial_robot_model ${catkin_LIBRARIES})
+target_link_libraries(numerical_jacobians aerial_robot_model ${catkin_LIBRARIES})
 
 
 install(DIRECTORY include/${PROJECT_NAME}/ test/${PROJECT_NAME}/
   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION})
 
-install(TARGETS transformable_aerial_robot_model transformable_aerial_robot_model_ros servo_bridge numerical_jacobians
+install(TARGETS aerial_robot_model aerial_robot_model_ros robot_model_pluginlib servo_bridge numerical_jacobians
   DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
 )
 
 install(TARGETS rotor_tf_publisher interactive_marker_tf_broadcaster servo_bridge_node
   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
 )
 
-install(DIRECTORY launch script
+install(DIRECTORY launch script plugins
   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
   USE_SOURCE_PERMISSIONS
 )