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Darby Lim
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‎.travis.yml‎

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# This config file for Travis CI utilizes ros-industrial/industrial_ci package.
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# For more info for the package, see https://github.com/ros-industrial/industrial_ci/blob/master/README.rst
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sudo: required
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dist: trusty
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services:
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- docker
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language: generic
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python:
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- "2.7"
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compiler:
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- gcc
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notifications:
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email:
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on_success: always
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on_failure: always
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recipients:
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- pyo@robotis.com
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env:
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matrix:
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- ROS_DISTRO=kinetic ROS_REPO=ros-shadow-fixed UPSTREAM_WORKSPACE=debian
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# - ROS_DISTRO=kinetic ROS_REPO=ros-shadow-fixed UPSTREAM_WORKSPACE=debian OS_NAME=debian OS_CODE_NAME=jessie
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branches:
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only:
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- master
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- develop
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- kinetic-devel
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install:
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- git clone https://github.com/ros-industrial/industrial_ci.git .ci_config
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script:
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- source .ci_config/travis.sh
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‎open_manipulator_with_tb3/CMakeLists.txt‎

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cmake_minimum_required(VERSION 2.8.3)
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project(open_manipulator_with_tb3)
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find_package(catkin REQUIRED)
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catkin_metapackage()

‎open_manipulator_with_tb3/package.xml‎

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<?xml version="1.0"?>
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<package format="2">
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<name>open_manipulator_with_tb3</name>
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<version>0.1.1</version>
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<description>
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ROS-enabled OpenManipulator is a full open robot platform consisting of OpenSoftware​, OpenHardware and OpenCR(Embedded board)​.
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The OpenManipulator is allowed users to control it more easily by linking with the MoveIt! package. Moreover it has full hardware compatibility with TurtleBot3​.
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Even if you do not have a real robot, you can control the robot in the Gazebo simulator​.
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</description>
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<license>Apache 2.0</license>
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<author email="thlim@robotis.com">Darby Lim</author>
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<maintainer email="pyo@robotis.com">Pyo</maintainer>
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<url type="bugtracker">https://github.com/ROBOTIS-GIT/open_manipulator_with_tb3/issues</url>
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<url type="repository">https://github.com/ROBOTIS-GIT/open_manipulator_with_tb3</url>
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<url type="website">http://emanual.robotis.com/docs/en/platform/openmanipulator</url>
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<buildtool_depend>catkin</buildtool_depend>
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<exec_depend>open_manipulator_with_tb3_description</exec_depend>
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<exec_depend>open_manipulator_with_tb3_tools</exec_depend>
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<exec_depend>open_manipulator_with_tb3_waffle_moveit</exec_depend>
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<exec_depend>open_manipulator_with_tb3_waffle_pi_moveit</exec_depend>
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<export><metapackage/></export>
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</package>

‎open_manipulator_with_tb3_description/CMakeLists.txt‎

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################################################################################
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# CMake
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################################################################################
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cmake_minimum_required(VERSION 2.8.3)
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project(open_manipulator_with_tb3_description)
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################################################################################
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# Packages
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################################################################################
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find_package(catkin REQUIRED)
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################################################################################
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# Declare ROS messages, services and actions
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################################################################################
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################################################################################
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# Declare ROS dynamic reconfigure parameters
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################################################################################
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################################################################################
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# Catkin specific configuration
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################################################################################
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catkin_package()
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################################################################################
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# Build
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################################################################################
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################################################################################
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# Install
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################################################################################
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install(DIRECTORY launch meshes rviz urdf
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DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
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)
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################################################################################
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# Test
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################################################################################

‎open_manipulator_with_tb3_description/launch/open_manipulator_with_tb3_model.launch‎

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<launch>
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<arg name="model" default="$(env TURTLEBOT3_MODEL)" doc="model type [waffle, waffle_pi]"/>
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<arg name="use_gazebo" default="false" />
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<arg name="open_rviz" default="false" />
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<param name="robot_description"
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command="$(find xacro)/xacro --inorder '$(find open_manipulator_with_tb3_description)/urdf/open_manipulator_with_tb3_$(arg model).urdf.xacro'"/>
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<!-- Send joint values -->
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<group if="$(arg use_gazebo)">
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<node pkg="joint_state_publisher" type="joint_state_publisher" name="joint_state_publisher">
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<rosparam param="source_list">["/joint_states"]</rosparam>
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</node>
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</group>
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<!-- Combine joint values -->
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<node pkg="robot_state_publisher" type="state_publisher" name="robot_state_publisher"/>
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<!-- Show in Rviz -->
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<group if="$(arg open_rviz)">
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<node name="rviz" pkg="rviz" type="rviz" args="-d $(find open_manipulator_with_tb3_description)/rviz/open_manipulator_with_tb3.rviz"/>
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</group>
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</launch>
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‎open_manipulator_with_tb3_description/launch/open_manipulator_with_tb3_rviz.launch‎

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<launch>
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<arg name="model" default="$(env TURTLEBOT3_MODEL)" doc="model type [waffle, waffle_pi]"/>
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<param name="robot_description"
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command="$(find xacro)/xacro --inorder '$(find open_manipulator_with_tb3_description)/urdf/open_manipulator_with_tb3_$(arg model).urdf.xacro'"/>
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<!-- Send joint values -->
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<node pkg="joint_state_publisher" type="joint_state_publisher" name="joint_state_publisher">
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<param name="/use_gui" value="true"/>
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</node>
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<!-- Combine joint values -->
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<node pkg="robot_state_publisher" type="state_publisher" name="robot_state_publisher"/>
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<!-- Show in Rviz -->
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<node name="rviz" pkg="rviz" type="rviz" args="-d $(find open_manipulator_with_tb3_description)/rviz/open_manipulator_with_tb3.rviz"/>
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</launch>
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‎open_manipulator_with_tb3_description/meshes/chain_link1.stl‎

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‎open_manipulator_with_tb3_description/meshes/chain_link2.stl‎

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‎open_manipulator_with_tb3_description/meshes/chain_link3.stl‎

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‎open_manipulator_with_tb3_description/meshes/chain_link4.stl‎

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