Import example code from Atlas repo. Some pruning yet to be done.

chessbot/CMakeLists.txt

@@ -0,0 +1,147 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(chessbot)
+find_package(catkin REQUIRED COMPONENTS
+  rospy
+)
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+##   * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
+##   * If MSG_DEP_SET isn't empty the following dependencies might have been
+##     pulled in transitively but can be declared for certainty nonetheless:
+##     * add a build_depend tag for "message_generation"
+##     * add a run_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+##   * add "message_generation" and every package in MSG_DEP_SET to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * add "message_runtime" and every package in MSG_DEP_SET to
+##     catkin_package(CATKIN_DEPENDS ...)
+##   * uncomment the add_*_files sections below as needed
+##     and list every .msg/.srv/.action file to be processed
+##   * uncomment the generate_messages entry below
+##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+#   FILES
+#   Message1.msg
+#   Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+#   FILES
+#   Service1.srv
+#   Service2.srv
+# )
+
+## Generate actions in the 'action' folder
+# add_action_files(
+#   FILES
+#   Action1.action
+#   Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+#   DEPENDENCIES
+#   std_msgs  # Or other packages containing msgs
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if you package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+#  INCLUDE_DIRS include
+#  LIBRARIES chessbot
+#  CATKIN_DEPENDS rospy
+#  DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+# include_directories(include)
+include_directories(
+  ${catkin_INCLUDE_DIRS}
+)
+
+## Declare a cpp library
+# add_library(chessbot
+#   src/${PROJECT_NAME}/chessbot.cpp
+# )
+
+## Declare a cpp executable
+# add_executable(chessbot_node src/chessbot_node.cpp)
+
+## Add cmake target dependencies of the executable/library
+## as an example, message headers may need to be generated before nodes
+# add_dependencies(chessbot_node chessbot_generate_messages_cpp)
+
+## Specify libraries to link a library or executable target against
+# target_link_libraries(chessbot_node
+#   ${catkin_LIBRARIES}
+# )
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# install(PROGRAMS
+#   scripts/my_python_script
+#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables and/or libraries for installation
+# install(TARGETS chessbot chessbot_node
+#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+#   FILES_MATCHING PATTERN "*.h"
+#   PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+#   # myfile1
+#   # myfile2
+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_chessbot.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)

chessbot/Makefile

@@ -0,0 +1,13 @@
+DIAGRAMS=arm_2d_cartesian
+DIAGRAM_SRCS=$(DIAGRAMS:%=%.tex)
+DIAGRAM_PNGS=$(DIAGRAMS:%=%.png)
+DIAGRAM_DEBRIS=$(DIAGRAMS:%=%.aux) $(DIAGRAMS:%=%.log) $(DIAGRAMS:%=%.pdf)
+
+default: $(DIAGRAM_PNGS)
+
+%.png: %.tex
+	pdflatex -shell-escape $<
+
+.PHONY: clean
+clean:
+	-rm $(DIAGRAM_PNGS) $(DIAGRAM_DEBRIS)

chessbot/arm_2d.m

@@ -0,0 +1,46 @@
+close all;
+% render arm in both poses
+function draw_arm(js)
+  % fprintf("draw_arm\n");
+  % draw the base of the robot
+  bulx = -0.5;
+  buly = 0.2;
+  blrx = 0;
+  blry = -1.5;
+  bw = 2;
+  line([bulx, blrx], [buly, buly],'linewidth',bw);
+  line([blrx, blrx], [buly, blry],'linewidth',bw);
+  line([blrx, bulx], [blry, blry],'linewidth',bw);
+  line([bulx, bulx], [buly, blry],'linewidth',bw);
+  fs = 20;
+  %text(bulx+0.2, buly-0.2, "cleaner-bot",'fontsize',fs);
+
+  wulx = 1.2;
+  wuly = 1.3;
+  wlrx = 1.3;
+  wlry = -1.1;
+  ww = 3;
+  line([wulx, wlrx], [wuly, wuly],'linestyle','--','linewidth',ww);
+  line([wlrx, wlrx], [wuly, wlry],'linestyle','--','linewidth',bw);
+  line([wlrx, wulx], [wlry, wlry],'linestyle','--','linewidth',bw);
+  line([wulx, wulx], [wuly, wlry],'linestyle','--','linewidth',bw);
+
+
+  l0 = 1.0;
+  aw = 10; % arm width
+  elbow_xy = [l0 * cos(js(1)), l0 * sin(js(1))];
+  line([0,elbow_xy(1)],[0,elbow_xy(2)],'linewidth',aw);
+  l1 = 0.7;
+  wrist_xy = [elbow_xy(1) + l1 * cos(js(1)+js(2)),
+              elbow_xy(2) + l1 * sin(js(1)+js(2))];
+  line([elbow_xy(1),wrist_xy(1)],
+       [elbow_xy(2),wrist_xy(2)],'linewidth',aw);
+endfunction
+
+js_start = [ 0.9, -0.3];
+js_end   = [-1,  0.7];
+figure;
+for t=0:0.10:1
+  draw_arm(js_start * (1-t) + js_end * t);
+end
+axis equal;

chessbot/arm_2d_cartesian.aux

@@ -0,0 +1 @@
+\relax