Update all demos using the description from topic rather than the par…

…ameter (#456) * Use correct remapping for iron/humble * Updated demos * Example 14: Check for NaN in write method Since activation of the "hardware" takes some time, the resource manager might try to write the initial NaN value to the hardware. This commit adds a check to the write method for that. --------- Co-authored-by: Sai Kishor Kothakota <[email protected]> Co-authored-by: Felix Exner (fexner) <[email protected]>
ros-controls · Mar 13, 2024 · ceffe4f · ceffe4f
1 parent bb1e6ef
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Showing 14 changed files with 61 additions and 28 deletions.
diff --git a/example_1/bringup/launch/rrbot.launch.py b/example_1/bringup/launch/rrbot.launch.py
@@ -67,8 +67,11 @@ def generate_launch_description():
     control_node = Node(
         package="controller_manager",
         executable="ros2_control_node",
-        parameters=[robot_description, robot_controllers],
+        parameters=[robot_controllers],
         output="both",
+        remappings=[
+            ("~/robot_description", "/robot_description"),
+        ],
     )
     robot_state_pub_node = Node(
         package="robot_state_publisher",

diff --git a/example_10/bringup/launch/rrbot.launch.py b/example_10/bringup/launch/rrbot.launch.py
@@ -65,8 +65,11 @@ def generate_launch_description():
     control_node = Node(
         package="controller_manager",
         executable="ros2_control_node",
-        parameters=[robot_description, robot_controllers],
+        parameters=[robot_controllers],
         output="both",
+        remappings=[
+            ("~/robot_description", "/robot_description"),
+        ],
     )
     robot_state_pub_node = Node(
         package="robot_state_publisher",

diff --git a/example_11/bringup/launch/carlikebot.launch.py b/example_11/bringup/launch/carlikebot.launch.py
@@ -98,9 +98,6 @@ def generate_launch_description():
         executable="robot_state_publisher",
         output="both",
         parameters=[robot_description],
-        remappings=[
-            ("~/robot_description", "/robot_description"),
-        ],
     )
     rviz_node = Node(
         package="rviz2",

diff --git a/example_12/bringup/launch/rrbot.launch.py b/example_12/bringup/launch/rrbot.launch.py
@@ -53,8 +53,11 @@ def generate_launch_description():
     control_node = Node(
         package="controller_manager",
         executable="ros2_control_node",
-        parameters=[robot_description, robot_controllers],
+        parameters=[robot_controllers],
         output="both",
+        remappings=[
+            ("~/robot_description", "/robot_description"),
+        ],
     )
     robot_state_pub_node = Node(
         package="robot_state_publisher",

diff --git a/...p/launch/rrbot_modular_actuators_without_feedback_sensors_for_position_feedback.launch.py b/...p/launch/rrbot_modular_actuators_without_feedback_sensors_for_position_feedback.launch.py
@@ -96,8 +96,11 @@ def generate_launch_description():
     control_node = Node(
         package="controller_manager",
         executable="ros2_control_node",
-        parameters=[robot_description, robot_controllers],
+        parameters=[robot_controllers],
         output="both",
+        remappings=[
+            ("~/robot_description", "/robot_description"),
+        ],
     )
     robot_state_pub_node = Node(
         package="robot_state_publisher",

diff --git a/example_14/hardware/rrbot_actuator_without_feedback.cpp b/example_14/hardware/rrbot_actuator_without_feedback.cpp
@@ -183,21 +183,23 @@ hardware_interface::return_type RRBotActuatorWithoutFeedback::read(
 hardware_interface::return_type ros2_control_demo_example_14::RRBotActuatorWithoutFeedback::write(
   const rclcpp::Time & /*time*/, const rclcpp::Duration & /*period*/)
 {
-  // START: This part here is for exemplary purposes - Please do not copy to your production code
-  RCLCPP_INFO(
-    rclcpp::get_logger("RRBotActuatorWithoutFeedback"), "Writing command: %f", hw_joint_command_);
-
-  // Simulate sending commands to the hardware
-  std::ostringstream data;
-  data << hw_joint_command_;
-  RCLCPP_INFO(
-    rclcpp::get_logger("RRBotActuatorWithoutFeedback"), "Sending data command: %s",
-    data.str().c_str());
-  send(sock_, data.str().c_str(), strlen(data.str().c_str()), 0);
+  if (std::isfinite(hw_joint_command_))
+  {
+    // START: This part here is for exemplary purposes - Please do not copy to your production code
+    RCLCPP_INFO(
+      rclcpp::get_logger("RRBotActuatorWithoutFeedback"), "Writing command: %f", hw_joint_command_);
 
-  RCLCPP_INFO(rclcpp::get_logger("RRBotActuatorWithoutFeedback"), "Joints successfully written!");
-  // END: This part here is for exemplary purposes - Please do not copy to your production code
+    // Simulate sending commands to the hardware
+    std::ostringstream data;
+    data << hw_joint_command_;
+    RCLCPP_INFO(
+      rclcpp::get_logger("RRBotActuatorWithoutFeedback"), "Sending data command: %s",
+      data.str().c_str());
+    send(sock_, data.str().c_str(), strlen(data.str().c_str()), 0);
 
+    RCLCPP_INFO(rclcpp::get_logger("RRBotActuatorWithoutFeedback"), "Joints successfully written!");
+    // END: This part here is for exemplary purposes - Please do not copy to your production code
+  }
   return hardware_interface::return_type::OK;
 }
 

diff --git a/example_2/bringup/launch/diffbot.launch.py b/example_2/bringup/launch/diffbot.launch.py
@@ -73,8 +73,11 @@ def generate_launch_description():
     control_node = Node(
         package="controller_manager",
         executable="ros2_control_node",
-        parameters=[robot_description, robot_controllers],
+        parameters=[robot_controllers],
         output="both",
+        remappings=[
+            ("~/robot_description", "/robot_description"),
+        ],
     )
     robot_state_pub_node = Node(
         package="robot_state_publisher",

diff --git a/example_3/bringup/launch/rrbot_system_multi_interface.launch.py b/example_3/bringup/launch/rrbot_system_multi_interface.launch.py
@@ -119,8 +119,11 @@ def generate_launch_description():
     control_node = Node(
         package="controller_manager",
         executable="ros2_control_node",
-        parameters=[robot_description, robot_controllers],
+        parameters=[robot_controllers],
         output="both",
+        remappings=[
+            ("~/robot_description", "/robot_description"),
+        ],
     )
     robot_state_pub_node = Node(
         package="robot_state_publisher",

diff --git a/example_4/bringup/launch/rrbot_system_with_sensor.launch.py b/example_4/bringup/launch/rrbot_system_with_sensor.launch.py
@@ -111,8 +111,11 @@ def generate_launch_description():
     control_node = Node(
         package="controller_manager",
         executable="ros2_control_node",
-        parameters=[robot_description, robot_controllers],
+        parameters=[robot_controllers],
         output="both",
+        remappings=[
+            ("~/robot_description", "/robot_description"),
+        ],
     )
     robot_state_pub_node = Node(
         package="robot_state_publisher",

diff --git a/example_5/bringup/launch/rrbot_system_with_external_sensor.launch.py b/example_5/bringup/launch/rrbot_system_with_external_sensor.launch.py
@@ -111,8 +111,11 @@ def generate_launch_description():
     control_node = Node(
         package="controller_manager",
         executable="ros2_control_node",
-        parameters=[robot_description, robot_controllers],
+        parameters=[robot_controllers],
         output="both",
+        remappings=[
+            ("~/robot_description", "/robot_description"),
+        ],
     )
     robot_state_pub_node = Node(
         package="robot_state_publisher",

diff --git a/example_6/bringup/launch/rrbot_modular_actuators.launch.py b/example_6/bringup/launch/rrbot_modular_actuators.launch.py
@@ -119,8 +119,11 @@ def generate_launch_description():
     control_node = Node(
         package="controller_manager",
         executable="ros2_control_node",
-        parameters=[robot_description, robot_controllers],
+        parameters=[robot_controllers],
         output="both",
+        remappings=[
+            ("~/robot_description", "/robot_description"),
+        ],
     )
     robot_state_pub_node = Node(
         package="robot_state_publisher",

diff --git a/example_7/bringup/launch/r6bot_controller.launch.py b/example_7/bringup/launch/r6bot_controller.launch.py
@@ -52,8 +52,9 @@ def generate_launch_description():
     control_node = Node(
         package="controller_manager",
         executable="ros2_control_node",
-        parameters=[robot_description, robot_controllers],
+        parameters=[robot_controllers],
         remappings=[
+            ("~/robot_description", "/robot_description"),
             (
                 "/forward_position_controller/commands",
                 "/position_commands",

diff --git a/example_8/bringup/launch/rrbot_transmissions_system_position_only.launch.py b/example_8/bringup/launch/rrbot_transmissions_system_position_only.launch.py
@@ -96,8 +96,11 @@ def generate_launch_description():
     control_node = Node(
         package="controller_manager",
         executable="ros2_control_node",
-        parameters=[robot_description, robot_controllers],
+        parameters=[robot_controllers],
         output="both",
+        remappings=[
+            ("~/robot_description", "/robot_description"),
+        ],
     )
     robot_state_pub_node = Node(
         package="robot_state_publisher",

diff --git a/example_9/bringup/launch/rrbot.launch.py b/example_9/bringup/launch/rrbot.launch.py
@@ -68,8 +68,11 @@ def generate_launch_description():
     control_node = Node(
         package="controller_manager",
         executable="ros2_control_node",
-        parameters=[robot_description, robot_controllers],
+        parameters=[robot_controllers],
         output="both",
+        remappings=[
+            ("~/robot_description", "/robot_description"),
+        ],
     )
     robot_state_pub_node = Node(
         package="robot_state_publisher",