Realistic hunter2

README.md

@@ -1 +1,130 @@
-# hunter_robot
+# Hunter Robot Simulation
+
+This repository contains the **URDF** description and Gazebo simulation for the **Hunter V2** robot. The Hunter V2 is an **Ackermann-steered** mobile robot with front-wheel steering, simulated using ROS 2 control.
+
+Official Robot Website: [AgileX Hunter V2B](https://robosavvy.co.uk/agilex-hunter-2b.html)
+
+---
+
+## Key Features
+
+- **Ackermann Steering**: Configured for front-wheel steering with accurate kinematics.
+- **ROS 2 Control Integration**: Leverages `ros2_control` for simulating robot kinematics and dynamics.
+- **URDF Description**: Detailed robot description based on manufacturer specifications.
+- **Gazebo Simulation**: Visualize and simulate the Hunter V2 robot in Gazebo.
+- **Rviz Support**: Visualize the robot and interact with its joints using Rviz.
+
+---
+
+
+## Installation and Build Instructions
+
+### Prerequisites
+Ensure you have a ROS 2 workspace set up. If not, create one:
+```bash
+mkdir -p ~/ros2_ws/src
+cd ~/ros2_ws
+colcon build
+```
+
+### Clone and Build
+1. Clone this repository into your ROS 2 workspace:
+    ```bash
+    cd ~/ros2_ws/src
+    git clone https://github.com/LCAS/hunter_robot.git
+    ```
+2. Install dependencies:
+    ```bash
+    rosdep update
+    rosdep install --from-paths . --ignore-src -r -y
+    ```
+3. Build the workspace:
+    ```bash
+    cd ~/ros2_ws
+    colcon build
+    source install/setup.bash
+    ```
+
+---
+
+## Packages Overview
+
+This repository includes the following ROS 2 packages:
+
+1. **`hunter_description`**: URDF and robot description files.
+2. **`hunter_gazebo`**: Simulation environment for the Hunter V2 in Gazebo.
+
+---
+
+## Usage
+
+### 1. Visualize the Robot in Rviz
+
+To view the robot model and interact with its joints in Rviz:
+
+```bash
+ros2 launch hunter_description robot_view.launch.py
+```
+
+This launch file starts Rviz and loads the Hunter V2 model.
+
+[Rviz Simulation](https://github.com/user-attachments/assets/1cc10c03-fad7-47b0-8816-74c49d79be31)
+
+---
+
+### 2. Simulate the Robot in Gazebo
+
+To load the Hunter V2 in a Gazebo simulation environment:
+
+```bash
+ros2 launch hunter_gazebo launch_sim.launch.py
+```
+
+[Gazebo Simulation](https://github.com/user-attachments/assets/90757617-af3b-4bc8-bf1f-f08c5ecc1247)
+
+---
+
+### 3. Control the Robot with Teleop
+
+You can control the Hunter V2 using the `teleop_twist_keyboard` package. First, ensure the simulation is running, then execute:
+
+```bash
+ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args --remap cmd_vel:=/ackermann_like_controller/cmd_vel
+```
+
+Use the keyboard inputs to move the robot in the simulation.
+
+---
+
+## Robot Controller Configuration
+
+The main configuration of the robot controller is available [here](https://github.com/LCAS/hunter_robot/blob/refactor/hunter_description/config/ackermann_like_controller.yaml)
+
+---
+
+## Robot Specifications
+
+The primary robot parameters, such as mass, wheel size, and turning angles, are derived from the manufacturer's specifications and the following reference repository:
+
+- [Hunter 2 Base URDF (AgileX Robotics)](https://github.com/agilexrobotics/ugv_gazebo_sim/blob/master/hunter/hunter2_base/urdf/hunter2_base_gazebo.xacro)
+
+---
+
+## License
+
+This project is licensed under the **Apache License**. See the [LICENSE](LICENSE) file for details.
+
+---
+
+## References
+
+For more details on ROS 2 Control and Gazebo integration, see:
+
+- [ros2_controllers](https://github.com/ros-controls/ros2_controllers/tree/master)
+- [gazebo_ros2_control](https://github.com/ros-controls/gazebo_ros2_control)
+- [Getting Started with ros2_control](https://control.ros.org/humble/doc/getting_started/getting_started.html)
+- [ros2controlcli Documentation](https://control.ros.org/master/doc/ros2_control/ros2controlcli/doc/userdoc.html)
+- [gazebo_ros2_control User Guide](https://control.ros.org/rolling/doc/gazebo_ros2_control/doc/index.html)
+- [Video Tutorial](https://youtu.be/BcjHyhV0kIs?si=dUpg7IF-kHSUgB-w)
+
+---

hunter_description/CMakeLists.txt

@@ -1,33 +1,21 @@
-cmake_minimum_required(VERSION 3.8)
-project(hunter_description)
+cmake_minimum_required(VERSION 3.16)
+project(hunter_description LANGUAGES CXX)
 
-if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-  add_compile_options(-Wall -Wextra -Wpedantic)
+if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
+  add_compile_options(-Wall -Wextra)
 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()
+find_package(control_msgs REQUIRED)
+find_package(geometry_msgs REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(rclcpp_action REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(backward_ros REQUIRED)
 
 install(
-  DIRECTORY description launch meshes
-  DESTINATION share/${PROJECT_NAME}
+  DIRECTORY description launch config rviz meshes
+  DESTINATION share/${PROJECT_NAME}/
 )
 
-
 ament_package()

hunter_description/config/ackermann_like_controller.yaml

@@ -0,0 +1,59 @@
+controller_manager:
+  ros__parameters:
+    update_rate: 50 # Hz
+    use_sim_time: true
+
+    ackermann_like_controller:
+      type: tricycle_controller/TricycleController
+
+    joint_state_broadcaster:
+      type: joint_state_broadcaster/JointStateBroadcaster
+
+joint_state_broadcaster:
+  ros__parameters:
+    extra_joints: ["front_left_wheel_joint", "front_right_wheel_joint"]
+
+
+ackermann_like_controller:
+  ros__parameters:
+    # Model
+    traction_joint_name: rear_left_wheel_joint # Name of traction joint in URDF
+    steering_joint_name: front_left_steering_joint # Name of steering joint in URDF
+    wheel_radius: 0.165 # Radius of front wheel
+    wheelbase: 0.65 # Distance between center of back wheels and front wheel
+
+    # Odometry
+    odom_frame_id: odom
+    base_frame_id: base_link
+    publish_rate: 50.0 # publish rate of odom and tf
+    open_loop: false # if True, uses cmd_vel instead of hardware interface feedback to compute odometry
+    enable_odom_tf: true # If True, publishes odom<-base_link TF
+    odom_only_twist: false # If True, publishes on /odom only linear.x and angular.z; Useful for computing odometry in another node, e.g robot_localization's ekf
+    pose_covariance_diagonal: [0.0, 7.0, 14.0, 21.0, 28.0, 35.0] # Need to be set if fusing odom with other localization source
+    twist_covariance_diagonal: [0.0, 7.0, 14.0, 21.0, 28.0, 35.0] # Need to be set if fusing odom with other localization source
+    velocity_rolling_window_size: 10 # Rolling window size of rcppmath::RollingMeanAccumulator applied on linear and angular speeds published on odom
+
+    # Rate Limiting
+    traction: # All values should be positive
+      # min_velocity: 0.0
+      # max_velocity: 10.0
+      # min_acceleration: 0.0
+      max_acceleration: 5.0
+      # min_deceleration: 0.0
+      max_deceleration: 8.0
+      # min_jerk: 0.0
+      # max_jerk: 10.0
+    steering:
+      min_position: -0.461
+      max_position: 0.461
+      # min_velocity: 0.0
+      max_velocity: 1.0
+      # min_acceleration: 0.0
+      # max_acceleration: 10.0
+
+    # cmd_vel input
+    cmd_vel_timeout: 500 # In milliseconds. Timeout to stop if no cmd_vel is received
+    use_stamped_vel: false # Set to True if using TwistStamped.
+
+    # Debug
+    publish_ackermann_command: true # Publishes AckermannDrive. The speed does not comply to the msg definition, it the wheel angular speed in rad/s.