ackermann works with reference acceptance

ros-controls · Sep 21, 2023 · adcba1e · adcba1e
1 parent 0594c9b
commit adcba1e
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Showing 16 changed files with 91 additions and 395 deletions.
diff --git a/example_11/CMakeLists.txt b/example_11/CMakeLists.txt
@@ -49,7 +49,7 @@ install(
   DESTINATION include/ros2_control_demo_example_11
 )
 install(
-  DIRECTORY description/launch description/ros2_control description/urdf description/rviz
+  DIRECTORY description/launch description/ros2_control description/urdf
   DESTINATION share/ros2_control_demo_example_11
 )
 install(

diff --git a/example_11/bringup/config/carlikebot_controllers.yaml b/example_11/bringup/config/carlikebot_controllers.yaml
@@ -8,9 +8,6 @@ controller_manager:
     ackermann_steering_controller:
       type: ackermann_steering_controller/AckermannSteeringController
 
-    bicycle_steering_controller:
-      type: bicycle_steering_controller/BicycleSteeringController
-
 
 ackermann_steering_controller:
   ros__parameters:
@@ -33,23 +30,3 @@ ackermann_steering_controller:
     front_wheels_radius: 0.05
     rear_wheels_radius: 0.05
 
-bicycle_steering_controller:
-  ros__parameters:
-
-    reference_timeout: 2.0
-    front_steering: true
-    open_loop: false
-    velocity_rolling_window_size: 10
-    position_feedback: false
-    use_stamped_vel: false
-    rear_wheels_names: [rear_wheel_joint]
-    front_wheels_names: [steering_axis_joint]
-
-    odom_frame_id: odom
-    base_frame_id: base_link
-    enable_odom_tf: true
-
-
-    wheelbase: 0.325
-    front_wheel_radius: 0.05
-    rear_wheel_radius: 0.05
diff --git a/example_11/bringup/launch/carlikebot.launch.py b/example_11/bringup/launch/carlikebot.launch.py
@@ -32,17 +32,9 @@ def generate_launch_description():
             description="Start RViz2 automatically with this launch file.",
         )
     )
-    declared_arguments.append(
-        DeclareLaunchArgument(
-            "sim",
-            default_value="true",
-            description="Whether to start controllers for simulation or real hardware.",
-        )
-    )
 
     # Initialize Arguments
     gui = LaunchConfiguration("gui")
-    sim = LaunchConfiguration("sim")
 
     # Get URDF via xacro
     robot_description_content = Command(
@@ -52,8 +44,6 @@ def generate_launch_description():
             PathJoinSubstitution(
                 [FindPackageShare("ros2_control_demo_example_11"), "urdf", "carlikebot.urdf.xacro"]
             ),
-            " sim:=",
-            sim,
         ]
     )
     robot_description = {"robot_description": robot_description_content}
@@ -66,7 +56,7 @@ def generate_launch_description():
         ]
     )
     rviz_config_file = PathJoinSubstitution(
-        [FindPackageShare("ros2_control_demo_example_11"), "rviz", "carlikebot.rviz"]
+        [FindPackageShare("ros2_control_demo_description"), "carlikebot/rviz", "carlikebot.rviz"]
     )
 
     control_node = Node(
@@ -80,20 +70,9 @@ def generate_launch_description():
         executable="robot_state_publisher",
         output="both",
         parameters=[robot_description],
-        # remappings=[
-        #     ("/ackermann_steering_controller/reference_unstamped", "/cmd_vel"),
-        # ],
-        condition=IfCondition(sim),
-    )
-    robot_state_pub_bicycle_node = Node(
-        package="robot_state_publisher",
-        executable="robot_state_publisher",
-        output="both",
-        parameters=[robot_description],
-        # remappings=[
-        #     ("/bicycle_steering_controller/reference_unstamped", "/cmd_vel"),
-        # ],
-        condition=UnlessCondition(sim),
+        remappings=[
+            ("/ackermann_steering_controller/reference_unstamped", "/cmd_vel"),
+        ],
     )
     rviz_node = Node(
         package="rviz2",
@@ -114,13 +93,6 @@ def generate_launch_description():
         package="controller_manager",
         executable="spawner",
         arguments=["ackermann_steering_controller", "--controller-manager", "/controller_manager"],
-        condition=IfCondition(sim),
-    )
-    robot_bicycle_controller_spawner = Node(
-        package="controller_manager",
-        executable="spawner",
-        arguments=["bicycle_steering_controller", "--controller-manager", "/controller_manager"],
-        condition=UnlessCondition(sim),
     )
 
     # Delay rviz start after `joint_state_broadcaster`
@@ -135,17 +107,25 @@ def generate_launch_description():
     delay_robot_controller_spawner_after_joint_state_broadcaster_spawner = RegisterEventHandler(
         event_handler=OnProcessExit(
             target_action=joint_state_broadcaster_spawner,
-            on_exit=[robot_ackermann_controller_spawner, robot_bicycle_controller_spawner],
+            on_exit=[robot_ackermann_controller_spawner],
         )
     )
+
+    # the steering controller libraries by default publish odometry on a seperate topic than /tf
+    relay_topic_to_tf_node = Node(
+        package='topic_tools',
+        executable='relay',
+        arguments=['/ackermann_steering_controller/tf_odometry', '/tf'],
+        output='screen',
+    )
 
     nodes = [
         control_node,
         robot_state_pub_ackermann_node,
-        robot_state_pub_bicycle_node,
         joint_state_broadcaster_spawner,
         delay_rviz_after_joint_state_broadcaster_spawner,
         delay_robot_controller_spawner_after_joint_state_broadcaster_spawner,
+        relay_topic_to_tf_node,
     ]
 
     return LaunchDescription(declared_arguments + nodes)
diff --git a/example_11/description/launch/view_robot.launch.py b/example_11/description/launch/view_robot.launch.py
@@ -26,7 +26,7 @@ def generate_launch_description():
     declared_arguments.append(
         DeclareLaunchArgument(
             "description_package",
-            default_value="ros2_control_demo_example_11",
+            default_value="ros2_control_demo_description",
             description="Description package with robot URDF/xacro files. Usually the argument \
         is not set, it enables use of a custom description.",
         )
@@ -37,6 +37,14 @@ def generate_launch_description():
             default_value="carlikebot.urdf.xacro",
             description="URDF/XACRO description file with the robot.",
         )
+    ),
+    declared_arguments.append(
+        DeclareLaunchArgument(
+            "gui",
+            default_value="true",
+            description="Start Rviz2 and Joint State Publisher gui automatically \
+        with this launch file.",
+        )
     )
     declared_arguments.append(
         DeclareLaunchArgument(
@@ -51,6 +59,7 @@ def generate_launch_description():
     # Initialize Arguments
     description_package = LaunchConfiguration("description_package")
     description_file = LaunchConfiguration("description_file")
+    gui = LaunchConfiguration("gui")
     prefix = LaunchConfiguration("prefix")
 
     # Get URDF via xacro
@@ -59,19 +68,17 @@ def generate_launch_description():
             PathJoinSubstitution([FindExecutable(name="xacro")]),
             " ",
             PathJoinSubstitution(
-                [FindPackageShare(description_package), "urdf", description_file]
+                [FindPackageShare("ros2_control_demo_example_11"), "urdf", description_file]
             ),
             " ",
             "prefix:=",
             prefix,
-            " ",
-            "sim:=true",
         ]
     )
     robot_description = {"robot_description": robot_description_content}
 
     rviz_config_file = PathJoinSubstitution(
-        [FindPackageShare(description_package), "rviz", "carlikebot_view.rviz"]
+        [FindPackageShare(description_package), "carlikebot/rviz", "carlikebot_view.rviz"]
     )
 
     joint_state_publisher_node = Node(

diff --git a/...l/carlikebot_ackermann.ros2_control.xacro → ...os2_control/carlikebot.ros2_control.xacro b/...l/carlikebot_ackermann.ros2_control.xacro → ...os2_control/carlikebot.ros2_control.xacro
diff --git a/example_11/description/ros2_control/carlikebot_bicycle.ros2_control.xacro b/example_11/description/ros2_control/carlikebot_bicycle.ros2_control.xacro
diff --git a/example_11/description/urdf/carlikebot.urdf.xacro b/example_11/description/urdf/carlikebot.urdf.xacro
@@ -2,22 +2,14 @@
 <!-- 4 Wheel Robot with front steering and rear drive -->
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="carlikebot_robot">
   <xacro:arg name="prefix" default="" />
-  <xacro:arg name="sim" default="true" />
 
+  <xacro:include filename="$(find ros2_control_demo_description)/carlikebot/urdf/carlikebot_description.urdf.xacro" />
 
   <!-- Import Rviz colors -->
-  <xacro:include filename="$(find ros2_control_demo_example_11)/urdf/carlikebot.materials.xacro" />
+  <xacro:include filename="$(find ros2_control_demo_description)/carlikebot/urdf/carlikebot.materials.xacro" />
 
-  <!-- Import carlikebot description and ros2_control based on sim arg -->
-  <xacro:if value="$(arg sim)">
-    <xacro:include filename="$(find ros2_control_demo_example_11)/urdf/carlikebot_ackermann_description.urdf.xacro" />
-    <xacro:include filename="$(find ros2_control_demo_example_11)/ros2_control/carlikebot_ackermann.ros2_control.xacro" />
-  </xacro:if>
-
-  <xacro:unless value="$(arg sim)">
-    <xacro:include filename="$(find ros2_control_demo_example_11)/urdf/carlikebot_bicycle_description.urdf.xacro" />
-    <xacro:include filename="$(find ros2_control_demo_example_11)/ros2_control/carlikebot_bicycle.ros2_control.xacro" />
-  </xacro:unless>
+  <!-- Import carlikebot ros2_control description -->
+  <xacro:include filename="$(find ros2_control_demo_example_11)/ros2_control/carlikebot.ros2_control.xacro" />
 
   <xacro:carlikebot prefix="$(arg prefix)" />