Anonymize repository

README.md

@@ -6,7 +6,7 @@ This is the accompanying code of the paper
 
 ## Getting Started
 
-Let's start by creating and populating the colcon workspace with the `unisa_acg_ros2` package suite and its dependencies. 
+Let's start by creating and populating the colcon workspace with the repo and its dependencies.
 In this case we will use `wstool` for convenience, which can be installed via aptitude:
 
 ```bash
@@ -65,34 +65,34 @@ ros2 launch fer_gravity_compensation_pd_controller_demo gravity_compensation_pd_
 
 In a new terminal, send the joint space trajectory:
 ```bash
-ros2 launch follow_joint_trajectory_action_client follow_joint_trajectory_action_client.launch.py input_trajectory_filename:=fer_exciting_acg_trajectory_42_real_0_no_vel action_name:=joint_space_reference_generator fraction_feedback_messages_to_save:=1
+ros2 launch follow_joint_trajectory_action_client follow_joint_trajectory_action_client.launch.py input_trajectory_filename:=fer_exciting_xxx_trajectory_42_real_0_no_vel action_name:=joint_space_reference_generator fraction_feedback_messages_to_save:=1
 ```
 
 ### JRG + PID + simulated FER
 
 Launch the simulation, which starts FER with PID controller:
 ```bash
-ros2 launch acg_resources_fer_moveit_config gazebo_ros2_control_demo.launch.py hand:=false controller:=pid_controller enable_effort_interfaces:=true controllers_file:=fer_reference_generator.yaml
+ros2 launch xxx_resources_fer_moveit_config gazebo_ros2_control_demo.launch.py hand:=false controller:=pid_controller enable_effort_interfaces:=true controllers_file:=fer_reference_generator.yaml
 ```
 
-Then, load and activate the `joint_space_command_controller`, for example using the GUI:
+Then, load and activate the `joint_space_reference_generator`, for example using the GUI:
 ```bash
 ros2 run rqt_controller_manager rqt_controller_manager
 ```
 
 In a new terminal, send the joint space trajectory:
 ```bash
-ros2 launch follow_joint_trajectory_action_client follow_joint_trajectory_action_client.launch.py input_trajectory_filename:=fer_exciting_acg_trajectory_42_real action_name:=joint_space_reference_generator fraction_feedback_messages_to_save:=1
+ros2 launch follow_joint_trajectory_action_client follow_joint_trajectory_action_client.launch.py input_trajectory_filename:=fer_exciting_xxx_trajectory_42_real action_name:=joint_space_reference_generator fraction_feedback_messages_to_save:=1
 ```
 
 ### JRG + PID + simulated UR10
 
 Launch the simulation, which starts UR10 with PID controller:
 ```bash
-ros2 launch acg_resources_ur10_moveit_config gazebo_ros2_control_demo.launch.py controllers_file:=ur10_test_reference_controllers.yaml rviz_config_file:=config/joint_space_reference_generator_view_ee_pose.rviz initial_joint_controller:=pid_controller
+ros2 launch xxx_resources_ur10_moveit_config gazebo_ros2_control_demo.launch.py controllers_file:=ur10_test_reference_controllers.yaml rviz_config_file:=config/joint_space_reference_generator_view_ee_pose.rviz initial_joint_controller:=pid_controller
 ```
 
-Then, load and activate `joint_space_command_controller`, for example using the GUI:
+Then, load and activate `joint_space_reference_generator`, for example using the GUI:
 ```bash
 ros2 run rqt_controller_manager rqt_controller_manager
 ```
@@ -124,5 +124,3 @@ In a new terminal, send task-space trajectory:
 ```bash
 ros2 launch follow_task_trajectory_action_client follow_task_trajectory_action_client.launch.py input_trajectory_filename:=wall_sliding_trajectory action_name:=task_space_reference_generator fraction_feedback_messages_to_save:=1
 ```
-
-© *2025 Automatic Control Group (DIEM, University of Salerno)*

cartesian_pose_controller/CMakeLists.txt

@@ -14,14 +14,14 @@ if(CMAKE_COMPILER_IS_GNUCXX
 endif()
 
 set(CARTESIAN_POSE_CONTROLLER_INCLUDE_DEPENDS
-    acg_control_msgs
+    xxx_control_msgs
     controller_interface
     generate_parameter_library
     geometry_msgs
     pluginlib
     kinematics_interface
-    acg_hardware_interface_facade
-    acg_common_libraries
+    xxx_hardware_interface_facade
+    xxx_common_libraries
     rclcpp
 )
 

cartesian_pose_controller/include/cartesian_pose_controller/cartesian_pose_controller.hpp

@@ -19,12 +19,12 @@
 #include <kinematics_interface/kinematics_interface.hpp>
 #include <pluginlib/class_loader.hpp>  // for kinematics_loader_
 
-#include <acg_hardware_interface_facade/state_reader.hpp>
-#include <acg_hardware_interface_facade/reference_reader.hpp>
-#include <acg_hardware_interface_facade/command_writer.hpp>
-#include <acg_control_msgs/msg/task_space_point.hpp>
-#include <acg_control_msgs/msg/joint_wrench_point.hpp>
-#include <acg_common_libraries/kinematics.hpp>
+#include <xxx_hardware_interface_facade/state_reader.hpp>
+#include <xxx_hardware_interface_facade/reference_reader.hpp>
+#include <xxx_hardware_interface_facade/command_writer.hpp>
+#include <xxx_control_msgs/msg/task_space_point.hpp>
+#include <xxx_control_msgs/msg/joint_wrench_point.hpp>
+#include <xxx_common_libraries/kinematics.hpp>
 
 // auto-generated by generate_parameter_library
 #include "cartesian_pose_controller/cartesian_pose_controller_parameters.hpp"
@@ -119,7 +119,7 @@ class CartesianPoseController : public controller_interface::ChainableController
   /**
    * @brief Convenience typedef for the Eigen library.
    */
-  typedef Eigen::Matrix<double, acg_kinematics::NUM_CARTESIAN_DOF, 1> Vector6d;
+  typedef Eigen::Matrix<double, xxx_kinematics::NUM_CARTESIAN_DOF, 1> Vector6d;
 
   /**
    * @brief Constant to store the duration of the throttle interval as an integral value in milliseconds.
@@ -134,7 +134,7 @@ class CartesianPoseController : public controller_interface::ChainableController
   /**
    * @brief Internal variable to store the current joint state of the robot.
    */
-  acg_hardware_interface_facade::RobotJointState robot_joint_state_;
+  xxx_hardware_interface_facade::RobotJointState robot_joint_state_;
 
   /**
    * @brief Number of joints to control.
@@ -154,12 +154,12 @@ class CartesianPoseController : public controller_interface::ChainableController
   /**
    * @brief Class for reading the state interfaces.
    */
-  acg_hardware_interface_facade::StateReader state_reader_;
+  xxx_hardware_interface_facade::StateReader state_reader_;
 
   /**
    * @brief Class for writing commands to the robot.
    */
-  acg_hardware_interface_facade::CommandWriter command_writer_;
+  xxx_hardware_interface_facade::CommandWriter command_writer_;
 
   /**
    * @brief The task space reference frame with respect to which the task space reference is defined.
@@ -179,22 +179,22 @@ class CartesianPoseController : public controller_interface::ChainableController
   /**
    * @brief Current task space reference received from the previous controller in the chain.
    */
-  acg_control_msgs::msg::TaskSpacePoint task_space_reference_;
+  xxx_control_msgs::msg::TaskSpacePoint task_space_reference_;
 
   /**
    * @brief Last task space reference used in the previous iteration.
    */
-  acg_control_msgs::msg::TaskSpacePoint last_reference_;
+  xxx_control_msgs::msg::TaskSpacePoint last_reference_;
 
   /**
    * @brief Current joint space command computed by the controller.
    */
-  acg_control_msgs::msg::JointWrenchPoint joint_space_command_;
+  xxx_control_msgs::msg::JointWrenchPoint joint_space_command_;
 
   /**
    * @brief Last joint space command used in the previous iteration.
    */
-  acg_control_msgs::msg::JointWrenchPoint last_command_;
+  xxx_control_msgs::msg::JointWrenchPoint last_command_;
 
   /**
    * @brief Eigen vector to store joint velocities computed during the control law calculation.
@@ -204,12 +204,12 @@ class CartesianPoseController : public controller_interface::ChainableController
   /**
    * @brief Gain matrix used for computing the control law.
    */
-  Eigen::Matrix<double, acg_kinematics::NUM_CARTESIAN_DOF, acg_kinematics::NUM_CARTESIAN_DOF> K_matrix_;
+  Eigen::Matrix<double, xxx_kinematics::NUM_CARTESIAN_DOF, xxx_kinematics::NUM_CARTESIAN_DOF> K_matrix_;
 
   /**
    * @brief Kinematics solver used for robot kinematics calculations.
    */
-  acg_kinematics::RTKinematicsSolver robot_kinematics_;
+  xxx_kinematics::RTKinematicsSolver robot_kinematics_;
 
   /**
    * @brief Upper physical limits of the robot joints for positions.
@@ -229,7 +229,7 @@ class CartesianPoseController : public controller_interface::ChainableController
   /**
    * @brief Class for reading the task space reference received as input.
    */
-  acg_hardware_interface_facade::ReferenceReader reference_reader_;
+  xxx_hardware_interface_facade::ReferenceReader reference_reader_;
 };  // class CartesianPoseController
 
 }  // namespace cartesian_pose_controller

cartesian_pose_controller/package.xml

@@ -10,9 +10,9 @@
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
-  <depend>acg_common_libraries</depend>
-  <depend>acg_control_msgs</depend>
-  <depend>acg_hardware_interface_facade</depend>
+  <depend>xxx_common_libraries</depend>
+  <depend>xxx_control_msgs</depend>
+  <depend>xxx_hardware_interface_facade</depend>
   <depend>controller_interface</depend>
   <depend>generate_parameter_library</depend>
   <depend>geometry_msgs</depend>

cartesian_pose_controller/src/cartesian_pose_controller.cpp

@@ -14,8 +14,8 @@
  */
 
 #include <pluginlib/class_list_macros.hpp>
-#include <acg_common_libraries/message_utilities.hpp>
-#include <acg_common_libraries/urdf_utilities.hpp>
+#include <xxx_common_libraries/message_utilities.hpp>
+#include <xxx_common_libraries/urdf_utilities.hpp>
 
 #include "cartesian_pose_controller/cartesian_pose_controller.hpp"
 
@@ -117,7 +117,7 @@ controller_interface::CallbackReturn CartesianPoseController::on_init()
 
   // Initialize the K matrix with the gains from the parameter handler
   K_matrix_.setIdentity();
-  for (std::size_t i = 0; i < acg_kinematics::NUM_CARTESIAN_DOF; i++)
+  for (std::size_t i = 0; i < xxx_kinematics::NUM_CARTESIAN_DOF; i++)
   {
     K_matrix_(i, i) = parameter_handler_->get_params().k_matrix_gains[i];
   }
@@ -148,7 +148,7 @@ controller_interface::CallbackReturn CartesianPoseController::on_configure(const
   std::vector<std::string> state_interfaces_names;
   state_interfaces_names.emplace_back("position");
 
-  acg_hardware_interface_facade::StateInterfaceNamesOverrideConfig state_interfaces_names_override;
+  xxx_hardware_interface_facade::StateInterfaceNamesOverrideConfig state_interfaces_names_override;
   state_interfaces_names_override.position_state_interfaces = parameter_handler_->get_params().state_interfaces_names_override.position;
 
   state_reader_.configure_state_interfaces(state_interfaces_names, parameter_handler_->get_params().joints,
@@ -158,7 +158,7 @@ controller_interface::CallbackReturn CartesianPoseController::on_configure(const
   std::vector<std::string> command_interface_names = parameter_handler_->get_params().command_interfaces;
 
   // Setting the command interface names override struct based on the configuration file for the command interfaces
-  acg_hardware_interface_facade::CommandInterfaceNamesOverrideConfig command_interface_names_override;
+  xxx_hardware_interface_facade::CommandInterfaceNamesOverrideConfig command_interface_names_override;
   command_interface_names_override.joint_position_interface_names = parameter_handler_->get_params().command_interfaces_names_override.joint_position;
   command_interface_names_override.joint_velocity_interface_names = parameter_handler_->get_params().command_interfaces_names_override.joint_velocity;
 
@@ -170,7 +170,7 @@ controller_interface::CallbackReturn CartesianPoseController::on_configure(const
   reference_interfaces.emplace_back("pose");
 
   // Setting the command interface names override struct based on the configuration file for the reference interfaces
-  acg_hardware_interface_facade::CommandInterfaceNamesOverrideConfig reference_interface_names_override;
+  xxx_hardware_interface_facade::CommandInterfaceNamesOverrideConfig reference_interface_names_override;
   reference_interface_names_override.task_space_pose_interface_names =
       parameter_handler_->get_params().reference_interfaces_names_override.task_space_pose;
   if (parameter_handler_->get_params().use_twist_reference)
@@ -296,7 +296,7 @@ controller_interface::return_type CartesianPoseController::update_and_write_comm
     {
       // Check if the task space reference is valid.
       // Note that the task space reference is not valid (contains NaN values) when the previous controller in the chain is not activated.
-      if (acg_message_utilities::is_nan(task_space_reference_.pose) || acg_message_utilities::is_nan(task_space_reference_.twist))
+      if (xxx_message_utilities::is_nan(task_space_reference_.pose) || xxx_message_utilities::is_nan(task_space_reference_.twist))
       {
         RCLCPP_WARN_THROTTLE(get_node()->get_logger(), *get_node()->get_clock(), DURATION_MS_,
                              "Task space reference is NaN. Using the last valid reference.");
@@ -340,7 +340,7 @@ bool CartesianPoseController::compute_control_law_(const rclcpp::Duration& perio
   robot_kinematics_.compute_forward_kinematics(robot_joint_state_.positions, tip_link_, task_space_reference_frame_, task_space_robot_state);
 
   Vector6d pose_error;
-  acg_kinematics::compute_pose_error(task_space_reference_.pose, task_space_robot_state, pose_error);
+  xxx_kinematics::compute_pose_error(task_space_reference_.pose, task_space_robot_state, pose_error);
 
   Vector6d desired_twist;
   if (reference_reader_.has_task_space_twist_interface())
@@ -352,7 +352,7 @@ bool CartesianPoseController::compute_control_law_(const rclcpp::Duration& perio
   {
     // Computing the desired twist from the last reference and the current reference
     Vector6d reference_diff;
-    acg_kinematics::compute_pose_error(task_space_reference_.pose, last_reference_.pose, reference_diff);
+    xxx_kinematics::compute_pose_error(task_space_reference_.pose, last_reference_.pose, reference_diff);
     desired_twist = reference_diff / period.seconds();
   }
 

end_effectors/end_effector_builder/README.md

@@ -89,15 +89,15 @@ An example end-effector configuration file is the following:
 
 ```yaml
 ft_sensor_mounting:
-  description_package: "acg_resources_generic_mounting_description"
+  description_package: "xxx_resources_generic_mounting_description"
   description_file: "urdf/generic_mounting.urdf.xacro"
   description_params:
     height: 0.01
     radius: 0.05
     mass: 0.05
 
 force_torque_sensor:
-  description_package: "acg_resources_generic_force_torque_sensor_description"
+  description_package: "xxx_resources_generic_force_torque_sensor_description"
   description_file: "urdf/generic_force_torque_sensor.urdf.xacro"
   description_params:
     height: 0.04
@@ -114,15 +114,15 @@ force_torque_sensor:
     update_rate: 100
 
 tool_mounting:
-  description_package: "acg_resources_generic_mounting_description"
+  description_package: "xxx_resources_generic_mounting_description"
   description_file: "urdf/generic_mounting.urdf.xacro"
   description_params:
     height: 0.01
     radius: 0.025
     mass: 0.0
 
 tool:
-  description_package: "acg_resources_long_handle_description"
+  description_package: "xxx_resources_long_handle_description"
   description_file: "urdf/long_handle.urdf.xacro"
 ```
 
@@ -180,4 +180,4 @@ Each top-level key in the `yaml` file represents a component of the end-effector
 The `yaml` file can also contain additional top-level keys that are not directly related to the end-effector building process.
 These keys can be used to store additional information about the end-effector, such as metadata or configuration parameters that are not directly used by the macros in this package.
 Please refer to the specific package documentation for more information on how to use these additional keys.
-For an example on how to extend the end-effector configuration file with additional keys, see the [acg_resources_ur10_moveit_config package documentation](../../acg_resources_ur10_moveit_config/README.md#end-effector-configuration).
+For an example on how to extend the end-effector configuration file with additional keys, see the [xxx_resources_ur10_moveit_config package documentation](../../xxx_resources_ur10_moveit_config/README.md#end-effector-configuration).

end_effectors/end_effector_builder/package.xml

@@ -12,7 +12,7 @@
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
-  <exec_depend>acg_resources_ft_sensor_gazebo_description</exec_depend>
+  <exec_depend>xxx_resources_ft_sensor_gazebo_description</exec_depend>
   <exec_depend>gazebo_force_torque_sensor</exec_depend>
 
   <export>

end_effectors/end_effector_builder/urdf/build_end_effector.xacro

@@ -11,7 +11,7 @@
     <xacro:property name="is_tool_mounting_present" value="${'tool_mounting' in ee_config}"/>
     <xacro:property name="is_tool_present" value="${'tool' in ee_config}"/>
 
-    <xacro:include filename="$(find acg_common_libraries)/xacro/define_property_from_dict.xacro"/>
+    <xacro:include filename="$(find xxx_common_libraries)/xacro/define_property_from_dict.xacro"/>
     <xacro:define_property_from_dict input_dict="${ee_config.get('force_torque_sensor', None)}" name="sensed_joint_name" default_value="ft_sensor_measure_joint"/>
     <xacro:define_property_from_dict input_dict="${ee_config.get('force_torque_sensor', None)}" name="sensing_frame_name" default_value="ft_sensing_frame"/>
 
@@ -59,9 +59,9 @@
       </xacro:unless>
 
       <xacro:if value="${sim_ignition}">
-        <xacro:include filename="$(find acg_resources_ft_sensor_gazebo_description)/urdf/gazebo_ft_sensor_description.xacro"/>
+        <xacro:include filename="$(find xxx_resources_ft_sensor_gazebo_description)/urdf/gazebo_ft_sensor_description.xacro"/>
         <xacro:gazebo_ft_sensor_description config="${ee_config.force_torque_sensor.get('gazebo_params', None)}" ft_sensed_joint="${sensed_joint_name}"/>
-        <xacro:include filename="$(find acg_resources_ft_sensor_gazebo_description)/urdf/gazebo_force_torque_sensor.ros2_control.xacro"/>
+        <xacro:include filename="$(find xxx_resources_ft_sensor_gazebo_description)/urdf/gazebo_force_torque_sensor.ros2_control.xacro"/>
         <xacro:build_ros2_control_description config="${ee_config.force_torque_sensor.get('ros2_control_params', None)}"/>
       </xacro:if>
 

end_effectors/force_torque_sensors/README.md

@@ -20,8 +20,8 @@ The `.urdf.xacro` file must define a xacro macro named `build_force_torque_senso
 * `config`: a dictionary containing the configuration parameters of the sensor provided by the user.
   The provided configuration parameters should be used to generate the URDF description of the sensor.
   A configuration parameter can be either mandatory or optional (i.e. it has a default value).
-  To read the value of a configuration parameter, the [`define_property_from_dict`](../../acg_common_libraries/xacro/define_property_from_dict.xacro) macro should be used.
-  For more information on how to use this macro, please refer to the [`acg_common_libraries` package README](../../acg_common_libraries/README.md#using-the-define_property_from_dict-macro) or any of the existing mountings in this library.
+  To read the value of a configuration parameter, the [`define_property_from_dict`](../../xxx_common_libraries/xacro/define_property_from_dict.xacro) macro should be used.
+  For more information on how to use this macro, please refer to the [`xxx_common_libraries` package README](../../xxx_common_libraries/README.md#using-the-define_property_from_dict-macro) or any of the existing mountings in this library.
 * `enable_ft_sensing`: a boolean that indicates whether the force/torque sensor should sense forces and torques.
   If `true`, the `sensed_joint_name` and `sensing_frame_name` parameters should be defined.
   If `false`, the sensor will not sense forces and torques, but it will still be mounted to the robot.

end_effectors/force_torque_sensors/acg_resources_ft_sensor_gazebo_description/CMakeLists.txt → end_effectors/force_torque_sensors/xxx_resources_ft_sensor_gazebo_description/CMakeLists.txt

@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.8)
-project(acg_resources_ft_sensor_gazebo_description)
+project(xxx_resources_ft_sensor_gazebo_description)
 
 find_package(ament_cmake REQUIRED)
 

end_effectors/force_torque_sensors/acg_resources_ft_sensor_gazebo_description/README.md → end_effectors/force_torque_sensors/xxx_resources_ft_sensor_gazebo_description/README.md

@@ -1,4 +1,4 @@
-# acg_resources_ft_sensor_gazebo_description
+# xxx_resources_ft_sensor_gazebo_description
 
 This package collects resources needed for simulating a force/torque sensor in the Gazebo simulator.