Merge pull request #4 from hariharan20/main

Sim Addition and Refactor

dogtooth_base/CMakeLists.txt

@@ -78,7 +78,7 @@ endif()
 # endif()
 
 install(
-  DIRECTORY config launch description
+  DIRECTORY launch
   DESTINATION share/${PROJECT_NAME}
 )
 

dogtooth_base/launch/dogtooth.launch.py

@@ -50,7 +50,7 @@ def generate_launch_description():
             PathJoinSubstitution([FindExecutable(name="xacro")]),
             " ",
             PathJoinSubstitution(
-                [FindPackageShare("dogtooth_base"), "description", "dogtooth.urdf.xacro"]
+                [FindPackageShare("dogtooth_description"), "description", "dogtooth_hardware.urdf.xacro"]
             ),
             " ",
             "use_mock_hardware:=",
@@ -61,9 +61,9 @@ def generate_launch_description():
 
     robot_controllers = PathJoinSubstitution(
         [
-            FindPackageShare("dogtooth_base"),
+            FindPackageShare("dogtooth_control"),
             "config",
-            "controllers.yaml",
+            "hardware_controllers.yaml",
         ]
     )
     # rviz_config_file = PathJoinSubstitution(

dogtooth_control/CMakeLists.txt

@@ -0,0 +1,32 @@
+cmake_minimum_required(VERSION 3.8)
+project(dogtooth_control)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+# uncomment the following section in order to fill in
+# further dependencies manually.
+# find_package(<dependency> REQUIRED)
+
+if(BUILD_TESTING)
+  # find_package(ament_lint_auto REQUIRED)
+  # # the following line skips the linter which checks for copyrights
+  # # comment the line when a copyright and license is added to all source files
+  # set(ament_cmake_copyright_FOUND TRUE)
+  # # the following line skips cpplint (only works in a git repo)
+  # # comment the line when this package is in a git repo and when
+  # # a copyright and license is added to all source files
+  # set(ament_cmake_cpplint_FOUND TRUE)
+  # ament_lint_auto_find_test_dependencies()
+  find_package(ament_cmake_gtest REQUIRED)
+endif()
+
+install(
+  DIRECTORY description config
+  DESTINATION share/${PROJECT_NAME}
+)
+
+ament_package()

dogtooth_control/config/controllers.yaml

@@ -0,0 +1,68 @@
+controller_manager:
+  ros__parameters:
+    update_rate: 50
+    use_sim_time: true
+
+    diff_cont:
+      type: diff_drive_controller/DiffDriveController
+
+    joint_broad:
+      type: joint_state_broadcaster/JointStateBroadcaster
+
+diff_cont:
+  ros__parameters:
+
+    publish_rate: 50.0
+
+    base_frame_id: base_link
+
+    left_wheel_names: ['front_left_wheel_joint', 'back_left_wheel_joint']
+    right_wheel_names: ['front_right_wheel_joint', 'back_right_wheel_joint']
+    wheel_separation: 0.525
+    wheel_radius: 0.14
+
+    use_stamped_vel: false
+
+    # open_loop: false    
+
+    # wheels_per_side: x
+    # wheel_separation_multiplier: x
+    # left_wheel_radius_multiplier: x
+    # right_wheel_radius_multiplier: x
+
+    # odom_frame_id: x
+    # pose_covariance_diagonal: x
+    # twist_covariance_diagonal: x
+    # open_loop: x
+    # enable_odom_tf: x
+
+    # cmd_vel_timeout: x
+    # publish_limited_velocity: x
+    # velocity_rolling_window_size: x
+
+
+    # linear.x.has_velocity_limits: false
+    # linear.x.has_acceleration_limits: false
+    # linear.x.has_jerk_limits: false
+    # linear.x.max_velocity: NAN
+    # linear.x.min_velocity: NAN
+    # linear.x.max_acceleration: NAN
+    # linear.x.min_acceleration: NAN
+    # linear.x.max_jerk: NAN
+    # linear.x.min_jerk: NAN
+
+    # angular.z.has_velocity_limits: false
+    # angular.z.has_acceleration_limits: false
+    # angular.z.has_jerk_limits: false
+    # angular.z.max_velocity: NAN
+    # angular.z.min_velocity: NAN
+    # angular.z.max_acceleration: NAN
+    # angular.z.min_acceleration: NAN
+    # angular.z.max_jerk: NAN
+    # angular.z.min_jerk: NAN
+
+
+
+
+# joint_broad:
+#   ros__parameters:

dogtooth_control/config/view_dogtooth.rviz

@@ -0,0 +1,232 @@
+Panels:
+  - Class: rviz_common/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /Status1
+        - /RobotModel1
+      Splitter Ratio: 0.5
+    Tree Height: 549
+  - Class: rviz_common/Selection
+    Name: Selection
+  - Class: rviz_common/Tool Properties
+    Expanded:
+      - /2D Goal Pose1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.5886790156364441
+  - Class: rviz_common/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz_common/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: ""
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz_default_plugins/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Alpha: 1
+      Class: rviz_default_plugins/RobotModel
+      Collision Enabled: false
+      Description File: ""
+      Description Source: Topic
+      Description Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /robot_description
+      Enabled: true
+      Links:
+        All Links Enabled: true
+        Expand Joint Details: false
+        Expand Link Details: false
+        Expand Tree: false
+        Link Tree Style: Links in Alphabetic Order
+        back_left_wheel:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        back_right_wheel:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        base_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        chassis:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        front_left_wheel:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        front_right_wheel:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+      Mass Properties:
+        Inertia: false
+        Mass: false
+      Name: RobotModel
+      TF Prefix: ""
+      Update Interval: 0
+      Value: true
+      Visual Enabled: true
+    - Class: rviz_default_plugins/TF
+      Enabled: true
+      Frame Timeout: 15
+      Frames:
+        All Enabled: true
+        back_left_wheel:
+          Value: true
+        back_right_wheel:
+          Value: true
+        base_link:
+          Value: true
+        chassis:
+          Value: true
+        front_left_wheel:
+          Value: true
+        front_right_wheel:
+          Value: true
+      Marker Scale: 1
+      Name: TF
+      Show Arrows: true
+      Show Axes: true
+      Show Names: true
+      Tree:
+        base_link:
+          back_left_wheel:
+            {}
+          back_right_wheel:
+            {}
+          chassis:
+            {}
+          front_left_wheel:
+            {}
+          front_right_wheel:
+            {}
+      Update Interval: 0
+      Value: true
+    - Class: rviz_default_plugins/Axes
+      Enabled: false
+      Length: 1
+      Name: Axes
+      Radius: 0.10000000149011612
+      Reference Frame: <Fixed Frame>
+      Value: false
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Fixed Frame: base_link
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz_default_plugins/Interact
+      Hide Inactive Objects: true
+    - Class: rviz_default_plugins/MoveCamera
+    - Class: rviz_default_plugins/Select
+    - Class: rviz_default_plugins/FocusCamera
+    - Class: rviz_default_plugins/Measure
+      Line color: 128; 128; 0
+    - Class: rviz_default_plugins/SetInitialPose
+      Covariance x: 0.25
+      Covariance y: 0.25
+      Covariance yaw: 0.06853891909122467
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /initialpose
+    - Class: rviz_default_plugins/SetGoal
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /goal_pose
+    - Class: rviz_default_plugins/PublishPoint
+      Single click: true
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /clicked_point
+  Transformation:
+    Current:
+      Class: rviz_default_plugins/TF
+  Value: true
+  Views:
+    Current:
+      Class: rviz_default_plugins/Orbit
+      Distance: 3.785315990447998
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: 0.17855952680110931
+        Y: -0.10517364740371704
+        Z: 0.048061221837997437
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.3352032005786896
+      Target Frame: <Fixed Frame>
+      Value: Orbit (rviz)
+      Yaw: 0.9940375089645386
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 846
+  Hide Left Dock: false
+  Hide Right Dock: true
+  QMainWindow State: 000000ff00000000fd000000040000000000000156000002b0fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000002b0000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002b0fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d000002b0000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000003bc0000003efc0100000002fb0000000800540069006d00650100000000000003bc0000027900fffffffb0000000800540069006d0065010000000000000450000000000000000000000260000002b000000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: true
+  Width: 956
+  X: 426
+  Y: 118