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RobotLocomotion / libbot

Deprecated git mirror of the svn repository formerly located at https://code.google.com/p/libbot. Please use the upstream https://github.com/libbot2/libbot2 or new fork https://github.com/RobotLocomotion/libbot2 instead.
GNU Lesser General Public License v3.0
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adding some drc lcm msgs to libbot? #8

Closed mauricefallon closed 3 years ago

mauricefallon commented 9 years ago

bot_core is missing a couple of the standard lcmtypes we used in the DRC: generic point cloud, IMU, joint state and presumably robot_state_t. Other to consider would be robot_urdf_t and force_torque_t

@patmarion and @RussTedrake would you find it useful to define standard types like this for future applications?

For pronto I keep having to redefine DRC types in pronto. Ideally there would be a submodule just with lcmtypes that I could use in my distro repo.

(Also, moving to use this repo in the mitdrc/drc would be good)

BTW, ROS has a set of clear and fully static standard sensor messages: http://wiki.ros.org/sensor_msgs

patmarion commented 9 years ago

I would like a common repo for these lcm types. Maybe it's even better if the repo was just lcm types and not part of libbot, but I'd be open to either scenario. Part of making director standalone requires the basic robot types (for planning) which are only provided by drc lcmtypes at the moment.

patmarion commented 9 years ago

Here are all the lcmtypes imported by python in the director. Note, only a few of these messages are required for robot display and ik planning.

affordance_collection_t atlas_battery_data_t atlas_behavior_command_t atlas_behavior_manipulate_params_t atlas_behavior_pelvis_servo_params_t atlas_behavior_step_params_t atlas_electric_arm_enable_t atlas_electric_arm_status_t atlas_pump_command_t atlas_state_extra_t atlas_state_t atlas_status_t atlas_strain_gauges_t auto_iris_segmentation_request_t block_fit_request_t boolean_t data_request_list_t data_request_t driving_control_cmd_t foot_contact_estimate_t footstep_check_request_t footstep_params_t footstep_plan_params_t footstep_plan_request_t footstep_plan_t footstep_t force_torque_t gamepad_cmd_t image_roi_t iris_region_request_t iris_region_response_t iris_region_t joint_angles_t joint_position_goal_t lin_con_t message_rate_t neck_pitch_t pfgrasp_command_t plan_adjust_mode_t plan_control_t planner_request_t plan_status_t position_3d_t position_t quaternion_t recovery_trigger_t robot_plan_t robot_plan_with_supports_t robot_plan_w_keyframes_t robot_state_t robot_urdf_t subimage_request_t support_body_t support_element_t system_status_t tag_detection_t terrain_raycast_request_t trigger_finger_t twist_t utime_t vector_3d_t walking_plan_request_t walking_plan_t

jamiesnape commented 3 years ago

This repository is deprecated. Please contribute to the upstream https://github.com/libbot2/libbot2 or the new fork https://github.com/RobotLocomotion/libbot2 instead.