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Bump version to 3.0.0 and follow up in removal iCub3 files #245

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merged 4 commits into from
Dec 2, 2024
Merged

Bump version to 3.0.0 and follow up in removal iCub3 files #245

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2472f0b
Bump version to 3.0.0
traversaro Nov 29, 2024
13666d0
Remove iCub3 related content
traversaro Nov 29, 2024
0e585f3
Update README.md
Nicogene Nov 29, 2024
dc2e32a
Remove link to unrelated file
traversaro Dec 2, 2024
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5 changes: 2 additions & 3 deletions CMakeLists.txt
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Expand Up @@ -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)

Expand Down Expand Up @@ -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
Expand Down Expand Up @@ -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})
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2 changes: 0 additions & 2 deletions README.md
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Expand Up @@ -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 |
Expand Down
2 changes: 1 addition & 1 deletion iCub_manual/package.xml
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@@ -1,6 +1,6 @@
<package>
<name>iCub</name>
<version>2.8.1</version>
<version>3.0.0</version>
<description>
This is not an actual package, but rather a placeholder to
make sure that the share/iCub directory is found as the
Expand Down
4 changes: 2 additions & 2 deletions iCub_manual/ros2/README.md
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@@ -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`.
Expand All @@ -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` `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 `/<prefix>/joint_states` ros topic by running `ros2 topic list`.
Also, ensure that the `/<prefix>/joint_states` streams all the robot joint angles by running
Expand Down
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