Hunter Gazebo Package Development

hunter_base/config/hardware_controllers.yaml

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+controller_manager:
+  ros__parameters:
+    update_rate: 50
+    use_sim_time: false
+
+    diff_drive_controller:
+      type: hunter_controller/HunterController
+    joint_state_broadcaster:
+      type: joint_state_broadcaster/JointStateBroadcaster
+
+diff_drive_controller:
+  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:

hunter_base/hunter_base.xml

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+<library path="hunter_base">
+  <class name="hunter_base/DiffBotSystemHardware"
+         type="hunter_base::DiffBotSystemHardware"
+         base_class_type="hardware_interface::SystemInterface">
+    <description>
+      The ros2_control DiffBot example using a system hardware interface-type. It uses velocity command and position state interface. The example is the starting point to implement a hardware interface for differential-drive mobile robots.
+    </description>
+  </class>
+</library>

hunter_base/launch/hunter.launch.py

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+# Copyright 2020 ros2_control Development Team
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument, RegisterEventHandler
+from launch.conditions import IfCondition
+from launch.event_handlers import OnProcessExit
+from launch.substitutions import Command, FindExecutable, PathJoinSubstitution, LaunchConfiguration
+
+from launch_ros.actions import Node
+from launch_ros.substitutions import FindPackageShare
+
+
+def generate_launch_description():
+    # Declare arguments
+    declared_arguments = []
+    declared_arguments.append(
+        DeclareLaunchArgument(
+            "gui",
+            default_value="true",
+            description="Start RViz2 automatically with this launch file.",
+        )
+    )
+    declared_arguments.append(
+        DeclareLaunchArgument(
+            "use_mock_hardware",
+            default_value="true",
+            description="Start robot with mock hardware mirroring command to its states.",
+        )
+    )
+
+    # Initialize Arguments
+    # gui = LaunchConfiguration("gui")
+    use_mock_hardware = LaunchConfiguration("use_mock_hardware")
+
+    # Get URDF via xacro
+    robot_description_content = Command(
+        [
+            PathJoinSubstitution([FindExecutable(name="xacro")]),
+            " ",
+            PathJoinSubstitution(
+                [FindPackageShare("hunter_description"), "description", "hunter_hardware.urdf.xacro"]
+            ),
+            " ",
+            "use_mock_hardware:=",
+            use_mock_hardware,
+        ]
+    )
+    robot_description = {"robot_description": robot_description_content}
+
+    robot_controllers = PathJoinSubstitution(
+        [
+            FindPackageShare("hunter_base"),
+            "config",
+            "hardware_controllers.yaml",
+        ]
+    )
+    # rviz_config_file = PathJoinSubstitution(
+    #     [FindPackageShare("ros2_control_demo_description"), "diffbot/rviz", "diffbot.rviz"]
+    # )
+
+    control_node = Node(
+        package="controller_manager",
+        executable="ros2_control_node",
+        parameters=[robot_description, robot_controllers],
+        output="both",
+    )
+    robot_state_pub_node = Node(
+        package="robot_state_publisher",
+        executable="robot_state_publisher",
+        output="both",
+        parameters=[robot_description],
+        remappings=[
+            ("/diff_drive_controller/cmd_vel_unstamped", "/cmd_vel"),
+        ],
+    )
+    # rviz_node = Node(
+    #     package="rviz2",
+    #     executable="rviz2",
+    #     name="rviz2",
+    #     output="log",
+    #     arguments=["-d", rviz_config_file],
+    #     condition=IfCondition(gui),
+    # )
+
+    joint_state_broadcaster_spawner = Node(
+        package="controller_manager",
+        executable="spawner",
+        arguments=["joint_state_broadcaster", "--controller-manager", "/controller_manager"],
+    )
+
+    robot_controller_spawner = Node(
+        package="controller_manager",
+        executable="spawner",
+        arguments=["diff_drive_controller", "--controller-manager", "/controller_manager"],
+    )
+
+    # Delay rviz start after `joint_state_broadcaster`
+    # delay_rviz_after_joint_state_broadcaster_spawner = RegisterEventHandler(
+    #     event_handler=OnProcessExit(
+    #         target_action=joint_state_broadcaster_spawner,
+    #         on_exit=[rviz_node],
+    #     )
+    # )
+
+    # Delay start of robot_controller after `joint_state_broadcaster`
+    delay_robot_controller_spawner_after_joint_state_broadcaster_spawner = RegisterEventHandler(
+        event_handler=OnProcessExit(
+            target_action=joint_state_broadcaster_spawner,
+            on_exit=[robot_controller_spawner],
+        )
+    )
+
+    nodes = [
+        control_node,
+        robot_state_pub_node,
+        joint_state_broadcaster_spawner,
+        # delay_rviz_after_joint_state_broadcaster_spawner,
+        delay_robot_controller_spawner_after_joint_state_broadcaster_spawner,
+    ]
+
+    return LaunchDescription(declared_arguments +nodes)

hunter_base/tmule/launch_real.yaml

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+session: teletop_robot
+init_cmd: |
+  echo " "
+  echo " "
+  echo " "
+  echo "Running Initialisation" | awk '{ gsub("Running Initialisation", "\033[1;21m\033[1;30m&\033[0m"); print }' ;
+
+  #exec /bin/bash
+  cd @TMULE_CONFIG_DIR@ || true
+  set -o pipefail
+  function export_default () {
+    var_name="$1"
+    var_default="$2"
+    eval $var_name="${!var_name:-$var_default}"
+    export $var_name
+    echo "  $0 -> $var_name=${!var_name}"
+  }
+
+  # source ROS
+  # source "/opt/ros/$(rosversion -d)/setup.bash"
+
+  # source the lcastor catkin workspace
+  source "$HOME/.bashrc"
+  # export_default CATKIN_WS "$HOME/ros_ws"
+
+  # robot specific arguments
+  # export_default TIAGO_EE "pal-gripper"
+  # export_default TIAGO_TYPE "titanium"
+
+  # world arguments
+  #export_default WORLD "small_office"
+  #export_default GZ_GUI "true"
+
+  # navigation specific arguments
+  # export_default GLOBAL_PLANNER "global_planner"
+  # export_default LOCAL_PLANNER "teb"
+  # export_default LOCALIZATION "amcl"
+  # export_default CONFIG_BASE_PATH "$(rospack find pal_navigation_cfg_tiago)"
+  # export_default MAP "$HOME/.pal/tiago_maps/configurations/$WORLD"
+  # export_default LASER_MODEL "sick-571"
+  # export_default RGBD_SENSORS "false"
+  # export_default BASE_TYPE "pmb2"
+
+  # PNP specific arguments
+  # export_default PNP_PLANS "$CATKIN_WS/src/LCASTOR/lcastor_plans"
+  # export_default PNP_ACTIONS "$CATKIN_WS/src/LCASTOR/lcastor_actions"
+  # export_default PNP_CONDITIONS "$CATKIN_WS/src/LCASTOR/lcastor_conditions"
+
+windows:
+  - name: hunter_launch
+    tags: ['core']
+    panes:
+      - 'ros2 launch hunter_base hunter.launch.py'
+  # - name: joy
+    # tags: ['joy']
+    # panes:
+      # - 'ros2 run teleop_twist_joy teleop_node --ros-args -r /cmd_vel:=/diff_cont/cmd_vel_unstamped' 
+  # - name: logi_joy
+    # tags: ['logi']
+    # panes:
+      # - 'ros2 run joystick_ros2 joystick_ros2'