Add simulation assets for canadarm2

resolves space-ros/space-ros#178

 - Add canadarm_description
 - Fix model asset paths
 - Reverse control configuration for canadarm model

canadarm2/canadarm_description/CMakeLists.txt

@@ -0,0 +1,28 @@
+cmake_minimum_required(VERSION 3.8)
+project(canadarm_description)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+
+install(DIRECTORY
+  ${CMAKE_CURRENT_SOURCE_DIR}/models
+  DESTINATION share/${PROJECT_NAME}/
+)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  # the following line skips the linter which checks for copyrights
+  # comment the line when a copyright and license is added to all source files
+  set(ament_cmake_copyright_FOUND TRUE)
+  # the following line skips cpplint (only works in a git repo)
+  # comment the line when this package is in a git repo and when
+  # a copyright and license is added to all source files
+  set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()

canadarm2/canadarm_description/models/config/canadarm_control.yaml

@@ -0,0 +1,75 @@
+controller_manager:
+  ros__parameters:
+    update_rate: 100
+
+    canadarm_joint_controller:
+      type: effort_controllers/JointGroupPositionController
+
+    canadarm_joint_trajectory_controller:
+      type: joint_trajectory_controller/JointTrajectoryController
+
+    joint_state_broadcaster:
+      type: joint_state_broadcaster/JointStateBroadcaster
+
+canadarm_joint_trajectory_controller:
+  ros__parameters:
+    joints:
+      - Base_Joint
+      - Shoulder_Roll
+      - Shoulder_Yaw
+      - Elbow_Pitch
+      - Wrist_Pitch
+      - Wrist_Yaw
+      - Wrist_Roll
+    interface_name: position
+    command_interfaces:
+      - position
+    state_interfaces:
+      - position
+      - velocity
+
+canadarm_joint_controller:
+  ros__parameters:
+    joints:
+      - Base_Joint
+      - Shoulder_Roll
+      - Shoulder_Yaw
+      - Elbow_Pitch
+      - Wrist_Pitch
+      - Wrist_Yaw
+      - Wrist_Roll
+    command_interfaces:
+      - effort
+    state_interfaces:
+      - position
+      - velocity
+      - effort
+    gains:
+      Base_Joint:
+        p: 50.0
+        i: 100.0
+        d: 2000.0
+      Shoulder_Roll:
+        p: 50.0
+        i: 100.0
+        d: 2000.0
+      Shoulder_Yaw:
+        p: 50.0
+        i: 100.0
+        d: 2000.0
+      Elbow_Pitch:
+        p: 50.0
+        i: 100.0
+        d: 2000.0
+      Wrist_Pitch:
+        p: 50.0
+        i: 100.0
+        d: 2000.0
+      Wrist_Yaw:
+        p: 50.0
+        i: 10.0
+        d: 200.0
+      Wrist_Roll:
+        p: 50.0
+        i: 10.0
+        d: 200.0

canadarm2/canadarm_description/models/model.config

@@ -0,0 +1,4 @@
+<?xml version="1.0"?>
+<model>
+  <sdf version="1.9">model.sdf</sdf>
+</model>