From 2472f0ba6d66adbe0a7d00790f44e159f4238bfc Mon Sep 17 00:00:00 2001 From: Silvio Traversaro Date: Fri, 29 Nov 2024 09:48:03 +0100 Subject: [PATCH 1/4] Bump version to 3.0.0 --- CMakeLists.txt | 2 +- iCub_manual/package.xml | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index 8e5b693..8dcb297 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -5,7 +5,7 @@ cmake_minimum_required(VERSION 3.8...3.16) project(icub-models - VERSION 2.8.1) + VERSION 3.0.0) include(GNUInstallDirs) diff --git a/iCub_manual/package.xml b/iCub_manual/package.xml index 9f7f398..b707a3a 100644 --- a/iCub_manual/package.xml +++ b/iCub_manual/package.xml @@ -1,6 +1,6 @@ iCub - 2.8.1 + 3.0.0 This is not an actual package, but rather a placeholder to make sure that the share/iCub directory is found as the From 13666d08472aba93f6619caf703239dd0a9f6298 Mon Sep 17 00:00:00 2001 From: Silvio Traversaro Date: Fri, 29 Nov 2024 09:55:52 +0100 Subject: [PATCH 2/4] Remove iCub3 related content --- CMakeLists.txt | 3 +-- README.md | 2 -- 2 files changed, 1 insertion(+), 4 deletions(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index 8dcb297..3b3cb9d 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -77,7 +77,6 @@ list(APPEND GAZEBO_SUPPORTED_MODELS "iCubGazeboV2_5") list(APPEND GAZEBO_SUPPORTED_MODELS "iCubGazeboV2_5_plus") list(APPEND GAZEBO_SUPPORTED_MODELS "iCubGazeboV2_6") list(APPEND GAZEBO_SUPPORTED_MODELS "iCubGazeboV2_7") -list(APPEND GAZEBO_SUPPORTED_MODELS "iCubGazeboV3") # Note: these models don't need further configuration apart from # model version in model.config. Only one configuration is generated for @@ -148,7 +147,7 @@ endforeach() # Deal with manually generated models set(GAZEBO_SUPPORTED_MODELS "") -list(APPEND GAZEBO_SUPPORTED_MODELS "iCubGazeboV2_5_visuomanip" "iCubGazeboV3_visuomanip") +list(APPEND GAZEBO_SUPPORTED_MODELS "iCubGazeboV2_5_visuomanip") SUBDIRLIST(ROBOTS_NAMES ${CMAKE_CURRENT_SOURCE_DIR}/iCub_manual/robots) foreach(ROBOT_NAME ${ROBOTS_NAMES}) diff --git a/README.md b/README.md index 9d913ea..c327f1e 100644 --- a/README.md +++ b/README.md @@ -35,8 +35,6 @@ The models contained in `icub-models` are listed in the following table. Most mo | `iCubGazeboV2_5_KIT_007`| `package://iCub/robots/iCubGazeboV2_5_KIT_007/model.urdf` | v2.5 + [KIT_007](https://icub-tech-iit.github.io/documentation/upgrade_kits/ankle_for_stairs/support/) with backpack, joint damping, and inertias of some links increased in a non realistic way to run smoothly in Gazebo Classic (ODE). | | `iCubGazeboV2_6` | `package://iCub/robots/iCubGazeboV2_6/model.urdf` | v2.6 with joint damping, and inertias of some links increased in a non realistic way to run smoothly in Gazebo Classic (ODE). | | `iCubGazeboV2_7` | `package://iCub/robots/iCubGazeboV2_7/model.urdf` | v2.7 with joint damping, and inertias of some links increased in a non realistic way to run smoothly in Gazebo Classic (ODE). | -| `iCubGazeboV3` | `package://iCub/robots/iCubGazeboV3/model.urdf` | v3 with joint damping, and inertias of some links increased in a non realistic way to run smoothly in Gazebo Classic (ODE). | -| `iCubGazeboV3_visuomanip` | `package://iCub/robots/iCubGazeboV3_visuomanip/model.urdf` | v3 with hands and eyes | | `iCubGenova02` | `package://iCub/robots/iCubGenova02/model.urdf` | v2.5.5 + [KIT_007](https://icub-tech-iit.github.io/documentation/upgrade_kits/ankle_for_stairs/support/) with backpack | | `iCubGenova03` | `package://iCub/robots/iCubGenova03/model.urdf` | v2 with legs v1 and feet v2.5 | | `iCubGenova11` | `package://iCub/robots/iCubGenova11/model.urdf` | v2.7 | From 0e585f309b81735114414fa9fd9f490a81f558f0 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Nicol=C3=B2=20Genesio=20=28=E4=BA=8C=E3=82=B3=E3=82=B2?= =?UTF-8?q?=E3=83=8D=29?= Date: Fri, 29 Nov 2024 15:18:55 +0100 Subject: [PATCH 3/4] Update README.md --- iCub_manual/ros2/README.md | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/iCub_manual/ros2/README.md b/iCub_manual/ros2/README.md index e6a4a58..259b954 100644 --- a/iCub_manual/ros2/README.md +++ b/iCub_manual/ros2/README.md @@ -1,6 +1,6 @@ :warning: The ROS2 support is in beta :warning: -This directory contains the files related for using `iCubGazeboV3` with ROS2. The contents of this directory are installed inside `iCub`. +This directory contains the files related for using `iCubGazeboV*` with ROS2. The contents of this directory are installed inside `iCub`. ros2 package. The location of `iCub` ros pacakge is discovered by running `roscd iCub`. The `launch` directory contains `launch.py` file `robot_state_publisher.launch.py`. The robot model that will be used depends `YARP_ROBOT_NAME` set in `.bashrc`. @@ -13,7 +13,7 @@ Right now are published on ROS2 topics: The steps to run rviz visualization correctly are: -- Edit `iCubGazeboV3/model.urdf` putting [`icub_ROS2.xml`](https://github.com/robotology/robots-configuration/blob/devel/iCub/conf_icub3/wrappers/icub_ROS2.xml) `robotinterface` xml file used at startup. +- Edit `iCubGazeboV*/model.urdf` putting [`icub_ROS2.xml`](https://github.com/robotology/robots-configuration/blob/devel/iCub/conf_icub3/wrappers/icub_ROS2.xml) `robotinterface` xml file used at startup. - Ensure that the robot is started correctly with ros configuration files for motor control boards. - On starting the robot, one should see `//joint_states` ros topic by running `ros2 topic list`. Also, ensure that the `//joint_states` streams all the robot joint angles by running From dc2e32afd8c00dc6f35fcaf43c1910d861e85d66 Mon Sep 17 00:00:00 2001 From: Silvio Traversaro Date: Mon, 2 Dec 2024 23:19:30 +0100 Subject: [PATCH 4/4] Remove link to unrelated file --- iCub_manual/ros2/README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/iCub_manual/ros2/README.md b/iCub_manual/ros2/README.md index 259b954..859987e 100644 --- a/iCub_manual/ros2/README.md +++ b/iCub_manual/ros2/README.md @@ -13,7 +13,7 @@ Right now are published on ROS2 topics: The steps to run rviz visualization correctly are: -- Edit `iCubGazeboV*/model.urdf` putting [`icub_ROS2.xml`](https://github.com/robotology/robots-configuration/blob/devel/iCub/conf_icub3/wrappers/icub_ROS2.xml) `robotinterface` xml file used at startup. +- Edit `iCubGazeboV*/model.urdf` putting `icub_ros2.xml` `robotinterface` xml file used at startup. - Ensure that the robot is started correctly with ros configuration files for motor control boards. - On starting the robot, one should see `//joint_states` ros topic by running `ros2 topic list`. Also, ensure that the `//joint_states` streams all the robot joint angles by running