[Spidar] rename all directories and files from "spider" to "spidar"

robots/spider/CMakeLists.txt → robots/spidar/CMakeLists.txt

@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 2.8.3)
-project(spider)
+project(spidar)
 
 ## Compile as C++11, supported in ROS Kinetic and newer
 add_compile_options(-std=c++14)
@@ -115,7 +115,7 @@ find_package(OsqpEigen REQUIRED)
 ## DEPENDS: system dependencies of this project that dependent projects also need
 catkin_package(
   INCLUDE_DIRS include
-  LIBRARIES spider_robot_model spider_controllib
+  LIBRARIES spidar_robot_model spidar_controllib
   CATKIN_DEPENDS aerial_robot_base aerial_robot_model aerial_robot_msgs aerial_robot_simulation dragon roscpp sensor_msgs spinal std_msgs
 #  DEPENDS system_lib
 )
@@ -135,7 +135,7 @@ include_directories(
 
 ## Declare a C++ library
 # add_library(${PROJECT_NAME}
-#   src/${PROJECT_NAME}/spider.cpp
+#   src/${PROJECT_NAME}/spidar.cpp
 # )
 
 ## Add cmake target dependencies of the library
@@ -146,7 +146,7 @@ include_directories(
 ## Declare a C++ executable
 ## With catkin_make all packages are built within a single CMake context
 ## The recommended prefix ensures that target names across packages don't collide
-# add_executable(${PROJECT_NAME}_node src/spider_node.cpp)
+# add_executable(${PROJECT_NAME}_node src/spidar_node.cpp)
 
 ## Rename C++ executable without prefix
 ## The above recommended prefix causes long target names, the following renames the
@@ -205,28 +205,28 @@ include_directories(
 #   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
 # )
 
-add_library(spider_robot_model
+add_library(spidar_robot_model
   src/model/hydrus_like_robot_model.cpp
   src/model/full_vectoring_robot_model.cpp
   src/model/ground_robot_model.cpp)
-target_link_libraries(spider_robot_model ${catkin_LIBRARIES} ${NLOPT_LIBRARIES} ${OsqpEigen_LIBRARIES})
+target_link_libraries(spidar_robot_model ${catkin_LIBRARIES} ${NLOPT_LIBRARIES} ${OsqpEigen_LIBRARIES})
 
-add_library(spider_controllib src/control/walk_control.cpp)
-target_link_libraries (spider_controllib ${catkin_LIBRARIES} spider_robot_model  ${OsqpEigen_LIBRARIES})
+add_library(spidar_controllib src/control/walk_control.cpp)
+target_link_libraries (spidar_controllib ${catkin_LIBRARIES} spidar_robot_model  ${OsqpEigen_LIBRARIES})
 
 
-add_library(spider_navigation
+add_library(spidar_navigation
   src/navigation/walk_navigation.cpp
   src/navigation/flight_navigation.cpp)
-target_link_libraries(spider_navigation ${catkin_LIBRARIES} ${OsqpEigen_LIBRARIES}) # no need to add spider_controllib
+target_link_libraries(spidar_navigation ${catkin_LIBRARIES} ${OsqpEigen_LIBRARIES}) # no need to add spidar_controllib
 
 
 #############
 ## Testing ##
 #############
 
 ## Add gtest based cpp test target and link libraries
-# catkin_add_gtest(${PROJECT_NAME}-test test/test_spider.cpp)
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_spidar.cpp)
 # if(TARGET ${PROJECT_NAME}-test)
 #   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
 # endif()

robots/spidar/bin/rosbag_play_spider.sh

@@ -0,0 +1,3 @@
+#!/bin/bash
+
+rosbag play $1 --pause --clock /spidar/joints_ctrl:=/spidar/joints_ctrl_orig /spidar/joints_torque_ctrl:=/spidar/joints_torque_ctrl_orig /spidar/debug/pose/pid:=/spidar/debug/pose/pid_orig /spidar/four_axes/command:=/spidar/four_axes/command_orig /spidar/debug/target_vectoring_force:=/spidar/debug/target_vectoring_force_orig /spidar/servo/target_states:=/spidar/servo/target_states_orig ${@:2}

robots/spider/config/octo/control/WalkControlConfig.yaml → robots/spidar/config/octo/control/WalkControlConfig.yaml

@@ -1,4 +1,4 @@
-aerial_robot_control_name: aerial_robot_control/spider_walk
+aerial_robot_control_name: aerial_robot_control/spidar_walk
 
 controller:
 

robots/spider/config/octo/model/FullVectoringRobotModel.yaml → robots/spidar/config/octo/model/FullVectoringRobotModel.yaml

@@ -1,6 +1,6 @@
 ### full vectoring robot model
 
-robot_model_plugin_name: spider/full_vectoring_robot_model
+robot_model_plugin_name: spidar/full_vectoring_robot_model
 
 # gimbal lock
 debug_verbose: false

robots/spider/config/octo/model/GroundRobotModel.yaml → robots/spidar/config/octo/model/GroundRobotModel.yaml

@@ -1,6 +1,6 @@
 ### full vectoring robot model
 
-robot_model_plugin_name: spider/ground_robot_model
+robot_model_plugin_name: spidar/ground_robot_model
 
 # gimbal lock
 debug_verbose: false

robots/spider/config/octo/model/HydrusLikeRobotModel.yaml → robots/spidar/config/octo/model/HydrusLikeRobotModel.yaml

@@ -1,6 +1,6 @@
 # robot model plugin
 
-robot_model_plugin_name: spider/hydrus_like_robot_model
+robot_model_plugin_name: spidar/hydrus_like_robot_model
 
 fc_rp_min_thre: 2.2
 rp_position_margin_thre: 0.1 # deprecated

robots/spider/config/octo/navigate/FlightNavigateConfig.yaml → robots/spidar/config/octo/navigate/FlightNavigateConfig.yaml

@@ -1,6 +1,6 @@
 # Teleop Basic Param
 
-flight_navigation_plugin_name: aerial_robot_navigation/spider/flight_navigation
+flight_navigation_plugin_name: aerial_robot_navigation/spidar/flight_navigation
 
 navigation:
   xy_control_mode: 0

robots/spider/config/octo/navigate/WalkNavigateConfig.yaml → robots/spidar/config/octo/navigate/WalkNavigateConfig.yaml

@@ -1,6 +1,6 @@
 # Teleop Basic Param
 
-flight_navigation_plugin_name: aerial_robot_navigation/spider/walk_navigation
+flight_navigation_plugin_name: aerial_robot_navigation/spidar/walk_navigation
 
 navigation:
   xy_control_mode: 0