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christophfroehlich committed Dec 25, 2023
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Example 10: Industrial robot with GPIO interfaces <../example_10/doc/userdoc.rst>
Example 12: Controller chaining <../example_12/doc/userdoc.rst>
Example 14: Modular robots with actuators not providing states <../example_14/doc/userdoc.rst>
Example 15: Multi-robot system with namespaced controller_manager <../example_15/doc/userdoc.rst>
192 changes: 126 additions & 66 deletions example_15/doc/userdoc.rst
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.. _ros2_control_demos_example_15_userdoc:

Example 15: Multi-robot system with namepaced controller_manager
Example 15: Multi-robot system with namespaced controller_manager
=================================================================


.. include:: ../../doc/run_from_docker.rst

Scenario showcase: Using ros2_control within a local namespace
----------------------------------------------------------------

- Launch file: [rrbot_namespace.launch.py](ros2_control_demo_bringup/launch/rrbot_namespace.launch.py)
- URDF: [rrbot.urdf.xacro](ros2_control_demo_bringup/config/rrbot.yaml)
- ros2_control URDF: [rrbot.ros2_control.xacro](ros2_control_demo_description/rrbot_description/ros2_control/rrbot.ros2_control.xacro)
- Controllers config: [rrbot_namespace_controllers.yaml](ros2_control_demo_bringup/config/rrbot_namespace_controllers.yaml)
* Launch file: `rrbot_namespace.launch.py <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_15/bringup/launch/rrbot_namespace.launch.py>`__
* Controllers yaml: `rrbot_namespace_controllers.yaml <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_15/bringup/config/rrbot_namespace_controllers.yaml>`__
* URDF file: `rrbot.urdf.xacro <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_15/description/urdf/rrbot.urdf.xacro>`__

* Description: `rrbot_description.urdf.xacro <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/ros2_control_demo_description/rrbot/urdf/rrbot_description.urdf.xacro>`__
* ``ros2_control`` tag: `rrbot.ros2_control.xacro <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_15/description/ros2_control/rrbot.ros2_control.xacro>`__

* RViz configuration: `rrbot.rviz <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/ros2_control_demo_description/rrbot/rviz/rrbot.rviz>`__
* Test nodes goals configuration:

+ `rrbot_forward_position_publisher <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_15/bringup/config/rrbot_forward_position_publisher.yaml>`__
+ `rrbot_joint_trajectory_publisher <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_15/bringup/config/rrbot_joint_trajectory_publisher.yaml>`__

* Hardware interface plugin: `rrbot.cpp <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_15/hardware/rrbot.cpp>`__

.. note::

**NOTE:**when running `ros2 control` CLI commands you have to use additional parameter with exact controller manager node name, i.e., `-c /rrbot/controller_manager`.
When running ``ros2 control`` CLI commands you have to use additional parameter with exact controller manager node name, i.e., ``-c /rrbot/controller_manager``.

- Command interfaces:

- joint1/position
- joint2/position

- State interfaces:

- joint1/position
- joint2/position

Available controllers: (nodes under namespace "/rrbot")
- `forward_position_controller[forward_command_controller/ForwardCommandController]`
- `joint_state_broadcaster[joint_state_broadcaster/JointStateBroadcaster]`

- ``forward_position_controller[forward_command_controller/ForwardCommandController]``
- ``joint_state_broadcaster[joint_state_broadcaster/JointStateBroadcaster]``

List controllers:
```
ros2 control list_controllers -c /rrbot/controller_manager
```

Commanding the robot using `ForwardCommandController` (name: `/rrbot/forward_position_controller`)
```
ros2 launch ros2_control_demo_bringup test_forward_position_controller.launch.py publisher_config:=rrbot_namespace_forward_position_publisher.yaml
```
.. code-block:: shell
ros2 control list_controllers -c /rrbot/controller_manager
Commanding the robot using ``/rrbot/forward_position_controller`` (a ``ForwardCommandController``))

Switch controller to use `position_trajectory_controller` (`JointTrajectoryController`):
```
ros2 control switch_controllers -c /rrbot/controller_manager --deactivate forward_position_controller --activate position_trajectory_controller
```
.. code-block:: shell
Commanding the robot using `JointTrajectoryController` (name: `/rrbot/position_trajectory_controller`)
```
ros2 launch ros2_control_demo_bringup test_joint_trajectory_controller.launch.py publisher_config:=rrbot_namespace_joint_trajectory_publisher.yaml
```
ros2 launch ros2_control_demo_bringup test_forward_position_controller.launch.py publisher_config:=rrbot_namespace_forward_position_publisher.yaml
Switch controller to use ``JointTrajectoryController`` (name: ``/rrbot/position_trajectory_controller``):

.. code-block:: shell
ros2 control switch_controllers -c /rrbot/controller_manager --deactivate forward_position_controller --activate position_trajectory_controller
Commanding the robot using ``JointTrajectoryController`` (name: ``/rrbot/position_trajectory_controller``)

.. code-block:: shell
ros2 launch ros2_control_demo_bringup test_joint_trajectory_controller.launch.py publisher_config:=rrbot_namespace_joint_trajectory_publisher.yaml
Scenario showcase: Using multiple controller managers on the same machine
-------------------------------------------------------------------------

- Launch file: [multi_controller_manager_example_two_rrbots.launch.py](ros2_control_demo_bringup/launch/multi_controller_manager_example_two_rrbots.launch.py)
- URDF: [rrbot.urdf.xacro](ros2_control_demo_bringup/config/rrbot.yaml)
- ros2_control URDF: [rrbot.ros2_control.xacro](ros2_control_demo_description/rrbot_description/ros2_control/rrbot.ros2_control.xacro)
- Controllers config 1: [multi_controller_manager_rrbot_1_controllers.yaml](ros2_control_demo_bringup/config/multi_controller_manager_rrbot_1_controllers.yaml)
- Controllers config 2: [multi_controller_manager_rrbot_2_controllers.yaml](ros2_control_demo_bringup/config/multi_controller_manager_rrbot_2_controllers.yaml)
* Launch file: `multi_controller_manager_example_two_rrbots.launch.py <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_15/bringup/launch/multi_controller_manager_example_two_rrbots.launch.py>`__
* Controllers yaml:
- `multi_controller_manager_rrbot_1_controllers.yaml <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_15/bringup/config/multi_controller_manager_rrbot_1_controllers.yaml>`__
- `multi_controller_manager_rrbot_2_controllers.yaml <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_15/bringup/config/multi_controller_manager_rrbot_2_controllers.yaml>`__
* URDF file: `rrbot.urdf.xacro <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_15/description/urdf/rrbot.urdf.xacro>`__

**NOTE:**when running `ros2 control` CLI commands you have to use additional parameter with exact controller manager node name, e.g., `-c /rrbot_1/controller_manager` or `-c /rrbot_2/controller_manager`.
* Description: `rrbot_description.urdf.xacro <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/ros2_control_demo_description/rrbot/urdf/rrbot_description.urdf.xacro>`__
* ``ros2_control`` tag: `rrbot.ros2_control.xacro <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_15/description/ros2_control/rrbot.ros2_control.xacro>`__

`rrbot_1` namespace:
- Command interfaces:
- rrbot_1_joint1/position
- rrbot_1_joint2/position
- State interfaces:
- rrbot_1_joint1/position
- rrbot_1_joint2/position
* RViz configuration: `rrbot.rviz <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/ros2_control_demo_description/rrbot/rviz/rrbot.rviz>`__
* Test nodes goals configuration:

+ `rrbot_forward_position_publisher <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_15/bringup/config/rrbot_forward_position_publisher.yaml>`__
+ `rrbot_joint_trajectory_publisher <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_15/bringup/config/rrbot_joint_trajectory_publisher.yaml>`__

* Hardware interface plugin: `rrbot.cpp <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_15/hardware/rrbot.cpp>`__

`rrbot_2` namespace:
- Command interfaces:
- rrbot_2_joint1/position
- rrbot_2_joint2/position
- State interfaces:
- rrbot_2_joint1/position
- rrbot_2_joint2/position

Available controllers: (nodes under namespace "/rrbot_1" and "/rrbot_2")
- `forward_position_controller[forward_command_controller/ForwardCommandController]`
- `joint_state_broadcaster[joint_state_broadcaster/JointStateBroadcaster]`
.. note::

When running ``ros2 control`` CLI commands you have to use additional parameter with exact controller manager node name, e.g., ``-c /rrbot_1/controller_manager`` or ``-c /rrbot_2/controller_manager``.

``rrbot_1`` namespace:

- Command interfaces:

- rrbot_1_joint1/position
- rrbot_1_joint2/position

- State interfaces:

- rrbot_1_joint1/position
- rrbot_1_joint2/position

``rrbot_2`` namespace:

- Command interfaces:

- rrbot_2_joint1/position
- rrbot_2_joint2/position

- State interfaces:

- rrbot_2_joint1/position
- rrbot_2_joint2/position

Available controllers (nodes under namespace "/rrbot_1" and "/rrbot_2"):

- ``forward_position_controller[forward_command_controller/ForwardCommandController]``
- ``joint_state_broadcaster[joint_state_broadcaster/JointStateBroadcaster]``

List controllers:
```
ros2 control list_controllers -c /rrbot_1/controller_manager
ros2 control list_controllers -c /rrbot_2/controller_manager
```

Commanding the robot using `ForwardCommandController`s (`forward_position_controller`)
```
ros2 launch ros2_control_demo_bringup test_multi_controller_manager_forward_position_controller.launch.py
```

Switch controller to use `position_trajectory_controller`s (`JointTrajectoryController`) - alternatively start main launch file with argument `robot_controller:=position_trajectory_controller`:
```
ros2 control switch_controllers -c /rrbot_1/controller_manager --deactivate forward_position_controller --activate position_trajectory_controller
ros2 control switch_controllers -c /rrbot_2/controller_manager --deactivate forward_position_controller --activate position_trajectory_controller
```

Commanding the robot using `JointTrajectoryController` (`position_trajectory_controller`):
```
ros2 launch ros2_control_demo_bringup test_multi_controller_manager_joint_trajectory_controller.launch.py
```

.. code-block:: shell
ros2 control list_controllers -c /rrbot_1/controller_manager
ros2 control list_controllers -c /rrbot_2/controller_manager
Commanding the robot using ``forward_position_controller`` (a ``ForwardCommandController``)


.. code-block:: shell
ros2 launch ros2_control_demo_bringup test_multi_controller_manager_forward_position_controller.launch.py
Switch controller to use ``position_trajectory_controller`` (a ``JointTrajectoryController``) - alternatively start main launch file with argument ``robot_controller:=position_trajectory_controller``:


.. code-block:: shell
ros2 control switch_controllers -c /rrbot_1/controller_manager --deactivate forward_position_controller --activate position_trajectory_controller
ros2 control switch_controllers -c /rrbot_2/controller_manager --deactivate forward_position_controller --activate position_trajectory_controller
Commanding the robot using ``position_trajectory_controller`` (a ``JointTrajectoryController``):

.. code-block:: shell
ros2 launch ros2_control_demo_bringup test_multi_controller_manager_joint_trajectory_controller.launch.py
Controllers from this demo
--------------------------
* ``Joint State Broadcaster`` (`ros2_controllers repository <https://github.com/ros-controls/ros2_controllers/tree/{REPOS_FILE_BRANCH}/joint_state_broadcaster>`__): `doc <https://control.ros.org/{REPOS_FILE_BRANCH}/doc/ros2_controllers/joint_state_broadcaster/doc/userdoc.html>`__
* ``Forward Command Controller`` (`ros2_controllers repository <https://github.com/ros-controls/ros2_controllers/tree/{REPOS_FILE_BRANCH}/forward_command_controller>`__): `doc <https://control.ros.org/{REPOS_FILE_BRANCH}/doc/ros2_controllers/forward_command_controller/doc/userdoc.html>`__
* ``Joint Trajectory Controller`` (`ros2_controllers repository <https://github.com/ros-controls/ros2_controllers/tree/{REPOS_FILE_BRANCH}/joint_trajectory_controller>`__): `doc <https://control.ros.org/{REPOS_FILE_BRANCH}/doc/ros2_controllers/joint_trajectory_controller/doc/userdoc.html>`__

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