Successfully launched meldog in custom world in gazebo sim with ros2 …

…control
KNR-PW · Sep 15, 2024 · bb27e4c · bb27e4c
1 parent f9e3e92
commit bb27e4c
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Showing 6 changed files with 48 additions and 43 deletions.
diff --git a/src/meldog_simple_description/description/gazebo/gazebo_macros.urdf.xacro b/src/meldog_simple_description/description/gazebo/gazebo_macros.urdf.xacro
@@ -5,8 +5,8 @@
     <!-- Gazebo macro for links -->
     <xacro:property name="kp_value" value="25000.0"/>
     <xacro:property name="kd_value" value="0.15"/>
-    <xacro:property name="mu2_value" value="0.7"/>
-    <xacro:property name="mu2_value" value="0.7"/>
+    <xacro:property name="mu2_value" value="0.9"/>
+    <xacro:property name="mu2_value" value="0.9"/>
     <xacro:property name="maxVel_value" value="0.25"/>
     <xacro:property name="dampingFactor_value" value="0.00"/>
 

diff --git a/src/meldog_simple_description/description/meldog_core.urdf.xacro b/src/meldog_simple_description/description/meldog_core.urdf.xacro
@@ -134,7 +134,7 @@
         <parent link="thigh_front_left_link"/>
         <child link="shank_front_left_link"/>
         <axis xyz="0.0 -1.0 0.0"/>
-        <xacro:meldog_joint_limits lower ="-${PI/2}" upper = "${PI/2}"/>
+        <xacro:meldog_joint_limits lower ="-${5*PI/6}" upper = "${5*PI/6}"/>
     </joint>
 
     <!-- Thigh front right to Shank front right -->
@@ -143,7 +143,7 @@
         <parent link="thigh_front_right_link"/>
         <child link="shank_front_right_link"/>
         <axis xyz="0.0 -1.0 0.0"/>
-        <xacro:meldog_joint_limits lower ="-${PI/2}" upper = "${PI/2}"/>
+        <xacro:meldog_joint_limits lower ="-${5*PI/6}" upper = "${5*PI/6}"/>
     </joint>
 
     <!-- Thigh back left to Shank back left -->
@@ -152,7 +152,7 @@
         <parent link="thigh_back_left_link"/>
         <child link="shank_back_left_link"/>
         <axis xyz="0.0 1.0 0.0"/>
-        <xacro:meldog_joint_limits lower ="-${PI/2}" upper = "${PI/2}"/>
+        <xacro:meldog_joint_limits lower ="-${5*PI/6}" upper = "${5*PI/6}"/>
     </joint>
 
     <!-- Thigh back right to Shank back right -->
@@ -161,7 +161,7 @@
         <parent link="thigh_back_right_link"/>
         <child link="shank_back_right_link"/>
         <axis xyz="0.0 1.0 0.0"/>
-        <xacro:meldog_joint_limits lower ="-${PI/2}" upper = "${PI/2}"/>
+        <xacro:meldog_joint_limits lower ="-${5*PI/6}" upper = "${5*PI/6}"/>
     </joint>
 
 

diff --git a/src/meldog_simple_description/description/ros2_control/ros2_control_gazebo.urdf.xacro b/src/meldog_simple_description/description/ros2_control/ros2_control_gazebo.urdf.xacro
@@ -26,10 +26,10 @@
 
 
         <!-- Thighs to Shanks joints -->
-        <xacro:ros2_control_joint joint_name="FLS" lower="-${PI/2}" upper="${PI/2}"/>
-        <xacro:ros2_control_joint joint_name="FRS" lower="-${PI/2}" upper="${PI/2}"/>
-        <xacro:ros2_control_joint joint_name="BLS" lower="-${PI/2}" upper="${PI/2}"/>
-        <xacro:ros2_control_joint joint_name="BRS" lower="-${PI/2}" upper="${PI/2}"/>
+        <xacro:ros2_control_joint joint_name="FLS" lower="-${5*PI/6}" upper="${5*PI/6}"/>
+        <xacro:ros2_control_joint joint_name="FRS" lower="-${5*PI/6}" upper="${5*PI/6}"/>
+        <xacro:ros2_control_joint joint_name="BLS" lower="-${5*PI/6}" upper="${5*PI/6}"/>
+        <xacro:ros2_control_joint joint_name="BRS" lower="-${5*PI/6}" upper="${5*PI/6}"/>
 
     </ros2_control>
 

diff --git a/src/meldog_simple_description/launch/meldog_gazebo_sim_ros2_control.launch.py b/src/meldog_simple_description/launch/meldog_gazebo_sim_ros2_control.launch.py
@@ -128,14 +128,19 @@ def generate_launch_description():
     )
 
     # Bridge between ros2 and Ignition Gazebo
-    ros2_gazebo_sim_bridge =  IncludeLaunchDescription(
-            PythonLaunchDescriptionSource(
-                [os.path.join(get_package_share_directory('ros_ign_gazebo'),
-                              'launch', 'ign_gazebo.launch.py')]),
-            launch_arguments=[('gz_args', [' -r -v 4 empty.sdf'])])
+    # ros2_gazebo_sim_bridge =  IncludeLaunchDescription(
+    #         PythonLaunchDescriptionSource(
+    #             [os.path.join(get_package_share_directory('ros_ign_gazebo'),
+    #                           'launch', 'ign_gazebo.launch.py')]),
+    #         launch_arguments=[('gz_args', [' -r -v 4 empty.sdf'])])
+    gazebo_sim_bridge = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource([os.path.join(
+            get_package_share_directory('ros_gz_sim'), 'launch'), '/gz_sim.launch.py']),
+            launch_arguments={'gz_args': ['-r -v -v4 ', world], 'on_exit_shutdown': 'true'}.items()
+        )
 
     nodes = [
-        ros2_gazebo_sim_bridge,
+        gazebo_sim_bridge,
 
         RegisterEventHandler(
             event_handler=OnProcessExit(

diff --git a/src/meldog_simple_description/test_controllers/joint_trajectory_controller_test.yaml b/src/meldog_simple_description/test_controllers/joint_trajectory_controller_test.yaml
@@ -58,62 +58,62 @@ joint_trajectory_controller:
 
     gains:
       FLH_joint:
-        d: 2.5
+        d: 100.0
         i: 0.0
         i_clamp: 0.0
-        p: 350.0
+        p: 1500.0
       FRH_joint:
-        d: 2.5
+        d: 100.0
         i: 0.0
         i_clamp: 0.0
-        p: 350.0
+        p: 1500.0
       BLH_joint:
-        d: 2.5
+        d: 100.0
         i: 0.0
         i_clamp: 0.0
-        p: 350.0
+        p: 1500.0
       BRH_joint:
-        d: 2.5
+        d: 100.0
         i: 0.0
         i_clamp: 0.0
-        p: 350.0
+        p: 1500.0
       FLT_joint:
-        d: 2.5
+        d: 100.0
         i: 0.0
         i_clamp: 0.0
-        p: 350.0
+        p: 1500.0
       FRT_joint:
-        d: 2.5
+        d: 100.0
         i: 0.0
         i_clamp: 0.0
-        p: 350.0
+        p: 1500.0
       BLT_joint:
-        d: 2.5
+        d: 100.0
         i: 0.0
         i_clamp: 0.0
-        p: 350.0
+        p: 1500.0
       BRT_joint:
-        d: 2.5
+        d: 100.0
         i: 0.0
         i_clamp: 0.0
-        p: 350.0
+        p: 1500.0
       FLS_joint:
-        d: 2.5
+        d: 100.0
         i: 0.0
         i_clamp: 0.0
-        p: 350.0
+        p: 1500.0
       FRS_joint:
-        d: 2.5
+        d: 100.0
         i: 0.0
         i_clamp: 0.0
-        p: 350.0
+        p: 1500.0
       BLS_joint:
-        d: 2.5
+        d: 100.0
         i: 0.0
         i_clamp: 0.0
-        p: 350.0
+        p: 1500.0
       BRS_joint:
-        d: 2.5
+        d: 100.0
         i: 0.0
         i_clamp: 0.0
-        p: 350.0
+        p: 1500.0
diff --git a/src/meldog_simple_description/worlds/empty.world b/src/meldog_simple_description/worlds/empty.world
@@ -49,13 +49,13 @@
     </gui>
 
     <physics type="ode">
-      <real_time_update_rate>2000.0</real_time_update_rate>
-      <max_step_size>0.001</max_step_size>
+      <real_time_update_rate>2500.0</real_time_update_rate>
+      <max_step_size>0.0005</max_step_size>
       <real_time_factor>1</real_time_factor>
       <ode>
         <solver>
           <type>quick</type>
-          <iters>150</iters>
+          <iters>200</iters>
           <precon_iters>0</precon_iters>
           <sor>1.400000</sor>
           <use_dynamic_moi_rescaling>1</use_dynamic_moi_rescaling>