diff --git a/README.md b/README.md index 971b98830..f0fd981d5 100644 --- a/README.md +++ b/README.md @@ -66,7 +66,9 @@ The following examples are part of this demo repository: The example shows a simple chainable controller and its integration to form a controller chain to control the joints of *RRBot*. -* Example 13: ["Multi-robot system with lifecycle management: adjust controllers at runtime"](example_13) +* Example 13: ["Multi-robot system with lifecycle management"](example_13) + + This example shows how to include multiple robots in a single controller manager instance. * Example 14: ["Modular robots with actuators not providing states and with additional sensors"](example_14) diff --git a/doc/index.rst b/doc/index.rst index f4c4af214..45bfc20d5 100644 --- a/doc/index.rst +++ b/doc/index.rst @@ -75,7 +75,8 @@ Example 11: "Car-like robot using steering controller library (tba.)" Example 12: "Controller chaining" The example shows a simple chainable controller and its integration to form a controller chain to control the joints of *RRBot*. -Example 13: "Multi-robot example (tba.)" +Example 13: "Multi-robot system with lifecycle management" + This example shows how to include multiple robots in a single controller manager instance. Example 14: "Modular robots with actuators not providing states and with additional sensors" @@ -271,4 +272,5 @@ Examples Example 9: Gazebo classic <../example_9/doc/userdoc.rst> Example 10: Industrial robot with GPIO interfaces <../example_10/doc/userdoc.rst> Example 12: Controller chaining <../example_12/doc/userdoc.rst> + Example 13: Multiple robots <../example_13/doc/userdoc.rst> Example 14: Modular robots with actuators not providing states <../example_14/doc/userdoc.rst> diff --git a/example_13/README.md b/example_13/README.md index a2cbd3904..1050a8583 100644 --- a/example_13/README.md +++ b/example_13/README.md @@ -1,328 +1,5 @@ -### Example XX: "Multi-robot system with tools" +# ros2_control_demo_example_13 -- Launch file: [three_robots.launch.py](ros2_control_demo_bringup/launch/three_robots.launch.py) -- Controllers: [three_robots_controllers.yaml](ros2_control_demo_bringup/config/three_robots_controllers.yaml) -- URDF: [three_robots.urdf.xacro](ros2_control_demo_bringup/config/three_robots.urdf.xacro) -- ros2_control URDF: [three_robots.ros2_control.xacro](ros2_control_demo_description/rrbot_description/ros2_control/three_robots.ros2_control.xacro) + This example shows how to include multiple robots in a single controller manager instance. - -**Hardware and interfaces**: -- RRBotSystemPositionOnly (auto-start) - - Command interfaces: - - rrbot_joint1/position - - rrbot_joint2/position - - State interfaces: - - rrbot_joint1/position - - rrbot_joint2/position - -- ExternalRRBotFTSensor (auto-start) - - State interfaces: - - rrbot_tcp_fts_sensor/force.x - - rrbot_tcp_fts_sensor/force.y - - rrbot_tcp_fts_sensor/force.z - - rrbot_tcp_fts_sensor/torque.x - - rrbot_tcp_fts_sensor/torque.y - - rrbot_tcp_fts_sensor/torque.z - -- RRBotSystemWithSensor (auto-configure) - - Command interfaces: - - rrbot_with_sensor_joint1/position - - rrbot_with_sensor_joint2/position - - State interfaces: - - rrbot_with_sensor_joint1/position - - rrbot_with_sensor_joint2/position - - rrbot_with_sensor_tcp_fts_sensor/force.x - - rrbot_with_sensor_tcp_fts_sensor/torque.z - -- ThreeDofBot - - Command interfaces - - threedofbot_joint1/position - - threedofbot_joint1/pid_gain - - threedofbot_joint2/position - - threedofbot_joint2/pid_gain - - threedofbot_joint3/position - - threedofbot_joint3/pid_gain - - State interfaces: - - threedofbot_joint1/position - - threedofbot_joint1/pid_gain - - threedofbot_joint2/position - - threedofbot_joint2/pid_gain - - threedofbot_joint3/position - - threedofbot_joint3/pid_gain - -**Available controllers**: -- `joint_state_broadcaster[joint_state_broadcaster/JointStateBroadcaster]` - -- RRBotSystemPositionOnly - - `rrbot_joint_state_broadcaster[joint_state_broadcaster/JointStateBroadcaster]` - - `rrbot_position_controller[forward_command_controller/ForwardCommandController]` - -- ExternalRRBotFTSensor - - `rrbot_external_fts_broadcaster[force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster]` - -- RRBotSystemPositionOnly - - `rrbot_with_sensor_joint_state_broadcaster[joint_state_broadcaster/JointStateBroadcaster]` - - `rrbot_with_sensor_position_controller[forward_command_controller/ForwardCommandController]` - - `rrbot_with_sensor_fts_broadcaster[force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster]` - -- FakeThreeDofBot - - `threedofbot_joint_state_broadcaster[joint_state_broadcaster/JointStateBroadcaster]` - - `threedofbot_position_controller[forward_command_controller/ForwardCommandController]` - - `threedofbot_pid_gain_controller[forward_command_controller/ForwardCommandController]` - - -Caveats on hardware lifecycling: -- There is currently no synchronization between available interface and controllers using them. - This means that you should stop controller before making interfaces they are using unavailable. - If you don't do this and deactivate/cleanup your interface first your computer will catch fire! -- Global Joint State Broadcaster will not broadcast interfaces that become available after it is started. - To solve this restart it manually, for now. During restart TF-transforms are not available. -- There is a possibility that hardware lifecycling (state changes) interfere with the `update`-loop if you are trying to start/stop a controller at the same time. - - -Notes: - 1. After starting the example there should be the following scene: - - right robot is moving (RRBotSystemPositionOnly - using auto-start) - - All interfaces are available and position controller is started and receives commands - - all controllers running - - left robot is standing upright (RRBotWithSensor - using auto-configure) - - only state interfaces are available therefore it can visualized, but not moved - - only position command controller is not running - - middle robot is "broken" (FakeThreeDofBot - it is only initialized) - - no interfaces are available - - all controllers inactive - - Hardware status: (`ros2 control list_hardware_components`) - - ``` - Hardware Component 1 - name: FakeThreeDofBot - type: system - plugin name: mock_components/GenericSystem - state: id=1 label=unconfigured - command interfaces - threedofbot_joint1/position [unavailable] [unclaimed] - threedofbot_joint1/pid_gain [unavailable] [unclaimed] - threedofbot_joint2/position [unavailable] [unclaimed] - threedofbot_joint2/pid_gain [unavailable] [unclaimed] - threedofbot_joint3/position [unavailable] [unclaimed] - threedofbot_joint3/pid_gain [unavailable] [unclaimed] - Hardware Component 2 - name: RRBotSystemWithSensor - type: system - plugin name: ros2_control_demo_hardware/RRBotSystemWithSensorHardware - state: id=2 label=inactive - command interfaces - rrbot_with_sensor_joint1/position [available] [unclaimed] - rrbot_with_sensor_joint2/position [available] [unclaimed] - Hardware Component 3 - name: ExternalRRBotFTSensor - type: sensor - plugin name: ros2_control_demo_hardware/ExternalRRBotForceTorqueSensorHardware - state: id=3 label=active - command interfaces - Hardware Component 4 - name: RRBotSystemPositionOnly - type: system - plugin name: ros2_control_demo_hardware/RRBotSystemPositionOnlyHardware - state: id=3 label=active - command interfaces - rrbot_joint1/position [available] [claimed] - rrbot_joint2/position [available] [claimed] - ``` - - Controllers status: (`ros2 control list_controllers`) - ``` - joint_state_broadcaster[joint_state_broadcaster/JointStateBroadcaster] active - rrbot_external_fts_broadcaster[force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster] active - rrbot_joint_state_broadcaster[joint_state_broadcaster/JointStateBroadcaster] active - rrbot_position_controller[forward_command_controller/ForwardCommandController] active - rrbot_with_sensor_fts_broadcaster[force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster] active - rrbot_with_sensor_joint_state_broadcaster[joint_state_broadcaster/JointStateBroadcaster] active - rrbot_with_sensor_position_controller[forward_command_controller/ForwardCommandController] inactive - threedofbot_joint_state_broadcaster[joint_state_broadcaster/JointStateBroadcaster] inactive - threedofbot_pid_gain_controller[forward_command_controller/ForwardCommandController] inactive - threedofbot_position_controller[forward_command_controller/ForwardCommandController] inactive - ``` - - 2. Activate `RRBotWithSensor` and its position controller. Call - ``` - ros2 service call /controller_manager/set_hardware_component_state controller_manager_msgs/srv/SetHardwareComponentState " - name: RRBotSystemWithSensor - target_state: - id: 0 - label: active" - ros2 control switch_controllers --activate rrbot_with_sensor_position_controller - ``` - - Scenario state: - - right robot is moving - - left robot is moving - - middle robot is "broken" - - Hardware status: `RRBotSystemWithSensor` is in state active - Controllers status, `rrbot_with_sensor_position_controller` is now active: - ``` - $ ros2 control list_controllers - joint_state_broadcaster[joint_state_broadcaster/JointStateBroadcaster] active - rrbot_external_fts_broadcaster[force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster] active - rrbot_joint_state_broadcaster[joint_state_broadcaster/JointStateBroadcaster] active - rrbot_position_controller[forward_command_controller/ForwardCommandController] active - rrbot_with_sensor_fts_broadcaster[force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster] active - rrbot_with_sensor_joint_state_broadcaster[joint_state_broadcaster/JointStateBroadcaster] active - rrbot_with_sensor_position_controller[forward_command_controller/ForwardCommandController] active - threedofbot_joint_state_broadcaster[joint_state_broadcaster/JointStateBroadcaster] inactive - threedofbot_pid_gain_controller[forward_command_controller/ForwardCommandController] inactive - threedofbot_position_controller[forward_command_controller/ForwardCommandController] inactive - ``` - - 3. Configure `FakeThreeDofBot` and its joint state broadcaster and non-movement command interfaces. Call - ``` - ros2 service call /controller_manager/set_hardware_component_state controller_manager_msgs/srv/SetHardwareComponentState " - name: FakeThreeDofBot - target_state: - id: 0 - label: inactive" - ros2 control switch_controllers --activate threedofbot_joint_state_broadcaster threedofbot_pid_gain_controller - ``` - - Scenario state: - - right robot is moving - - left robot is moving - - middle robot is still "broken" - - - Hardware status: `FakeThreeDofBot` is in inactive state. - Controllers status, `threedofbot_joint_state_broadcaster` and `threedofbot_pid_gain_controller` are in active state now: - ``` - $ ros2 control list_controllers - joint_state_broadcaster[joint_state_broadcaster/JointStateBroadcaster] active - rrbot_external_fts_broadcaster[force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster] active - rrbot_joint_state_broadcaster[joint_state_broadcaster/JointStateBroadcaster] active - rrbot_position_controller[forward_command_controller/ForwardCommandController] active - rrbot_with_sensor_fts_broadcaster[force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster] active - rrbot_with_sensor_joint_state_broadcaster[joint_state_broadcaster/JointStateBroadcaster] active - rrbot_with_sensor_position_controller[forward_command_controller/ForwardCommandController] active - threedofbot_joint_state_broadcaster[joint_state_broadcaster/JointStateBroadcaster] active - threedofbot_pid_gain_controller[forward_command_controller/ForwardCommandController] active - threedofbot_position_controller[forward_command_controller/ForwardCommandController] inactive - ``` - - 1. Restart global joint state broadcaster to broadcast all available states from the framework. - First check output to have comparison: - ``` - ros2 topic echo /joint_states --once - ``` - Restart: - ``` - ros2 control switch_controllers --deactivate joint_state_broadcaster - ros2 control switch_controllers --activate joint_state_broadcaster - ``` - Check output for comparison, now the joint_states of `threedofbot` and `rrbot_with_sensor` are broadcasted, too. - ``` - ros2 topic echo /joint_states --once - ``` - - Scenario state (everything is broken during `joint_state_broadcaster` restart): - - right robot is moving - - left robot is moving - - middle robot is now still "standing" - - 1. Activate `FakeThreeDofBot` and its joint state broadcaster and non-movement command interfaces. Call - ``` - ros2 service call /controller_manager/set_hardware_component_state controller_manager_msgs/srv/SetHardwareComponentState " - name: FakeThreeDofBot - target_state: - id: 0 - label: active" - ros2 control switch_controllers --activate threedofbot_position_controller - ``` - - Scenario state: - - right robot is moving - - left robot is moving - - middle robot is moving - - Hardware status: `FakeThreeDofBot` is in active state. - Controllers status (all active now): - ``` - $ ros2 control list_controllers - joint_state_broadcaster[joint_state_broadcaster/JointStateBroadcaster] active - rrbot_external_fts_broadcaster[force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster] active - rrbot_joint_state_broadcaster[joint_state_broadcaster/JointStateBroadcaster] active - rrbot_position_controller[forward_command_controller/ForwardCommandController] active - rrbot_with_sensor_fts_broadcaster[force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster] active - rrbot_with_sensor_joint_state_broadcaster[joint_state_broadcaster/JointStateBroadcaster] active - rrbot_with_sensor_position_controller[forward_command_controller/ForwardCommandController] active - threedofbot_joint_state_broadcaster[joint_state_broadcaster/JointStateBroadcaster] active - threedofbot_pid_gain_controller[forward_command_controller/ForwardCommandController] active - threedofbot_position_controller[forward_command_controller/ForwardCommandController] active - ``` - - 1. Deactivate `RRBotSystemPositionOnly` and its position controller (first). Call - ``` - ros2 control switch_controllers --deactivate rrbot_position_controller - ros2 service call /controller_manager/set_hardware_component_state controller_manager_msgs/srv/SetHardwareComponentState " - name: RRBotSystemPositionOnly - target_state: - id: 0 - label: inactive" - ``` - - Scenario state: - - right robot is "standing" - - left robot is moving - - middle robot is moving - - Hardware status: `RRBotSystemPositionOnly` is in inactive state. - Controllers status: `rrbot_position_controller` is now in inactive state - ``` - $ ros2 control list_controllers - joint_state_broadcaster[joint_state_broadcaster/JointStateBroadcaster] active - rrbot_external_fts_broadcaster[force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster] active - rrbot_joint_state_broadcaster[joint_state_broadcaster/JointStateBroadcaster] active - rrbot_position_controller[forward_command_controller/ForwardCommandController] inactive - rrbot_with_sensor_fts_broadcaster[force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster] active - rrbot_with_sensor_joint_state_broadcaster[joint_state_broadcaster/JointStateBroadcaster] active - rrbot_with_sensor_position_controller[forward_command_controller/ForwardCommandController] active - threedofbot_joint_state_broadcaster[joint_state_broadcaster/JointStateBroadcaster] active - threedofbot_pid_gain_controller[forward_command_controller/ForwardCommandController] active - threedofbot_position_controller[forward_command_controller/ForwardCommandController] active - ``` - - 1. Set `RRBotSystemPositionOnly` in unconfigured state, and deactivate its joint state broadcaster. - Also restart global joint state broadcaster. Call - ``` - ros2 control switch_controllers --deactivate rrbot_joint_state_broadcaster joint_state_broadcaster - ros2 service call /controller_manager/set_hardware_component_state controller_manager_msgs/srv/SetHardwareComponentState " - name: RRBotSystemPositionOnly - target_state: - id: 0 - label: unconfigured" - ros2 service call /controller_manager/set_hardware_component_state controller_manager_msgs/srv/SetHardwareComponentState " - name: RRBotSystemPositionOnly - target_state: - id: 0 - label: finalized" - ros2 control switch_controllers --activate joint_state_broadcaster - ``` - - Scenario state (everything is broken during `joint_state_broadcaster` restart): - - right robot is "broken" - - left robot is moving - - middle robot is moving - - Hardware status: - Controllers status: (`ros2 control list_controllers`) - ``` - joint_state_broadcaster[joint_state_broadcaster/JointStateBroadcaster] active - rrbot_external_fts_broadcaster[force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster] active - rrbot_joint_state_broadcaster[joint_state_broadcaster/JointStateBroadcaster] inactive - rrbot_position_controller[forward_command_controller/ForwardCommandController] inactive - rrbot_with_sensor_fts_broadcaster[force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster] active - rrbot_with_sensor_joint_state_broadcaster[joint_state_broadcaster/JointStateBroadcaster] active - rrbot_with_sensor_position_controller[forward_command_controller/ForwardCommandController] active - threedofbot_joint_state_broadcaster[joint_state_broadcaster/JointStateBroadcaster] active - threedofbot_pid_gain_controller[forward_command_controller/ForwardCommandController] active - threedofbot_position_controller[forward_command_controller/ForwardCommandController] active - ``` +Find the documentation in [doc/userdoc.rst](doc/userdoc.rst) or on [control.ros.org](https://control.ros.org/master/doc/ros2_control_demos/example_13/doc/userdoc.html). diff --git a/example_13/doc/userdoc.rst b/example_13/doc/userdoc.rst new file mode 100644 index 000000000..91a5ec87c --- /dev/null +++ b/example_13/doc/userdoc.rst @@ -0,0 +1,391 @@ +:github_url: https://github.com/ros-controls/ros2_control_demos/blob/{REPOS_FILE_BRANCH}/example_13/doc/userdoc.rst + +.. _ros2_control_demos_example_13_userdoc: + +Example 13: Multi-robot system with lifecycle management +========================================================== + +- Launch file: [three_robots.launch.py](ros2_control_demo_bringup/launch/three_robots.launch.py) +- Controllers: [three_robots_controllers.yaml](ros2_control_demo_bringup/config/three_robots_controllers.yaml) +- URDF: [three_robots.urdf.xacro](ros2_control_demo_bringup/config/three_robots.urdf.xacro) +- ros2_control URDF: [three_robots.ros2_control.xacro](ros2_control_demo_description/rrbot_description/ros2_control/three_robots.ros2_control.xacro) + + +Hardware and interfaces +------------------------- + +- RRBotSystemPositionOnly (auto-start) + + - Command interfaces: + + - rrbot_joint1/position + - rrbot_joint2/position + + - State interfaces: + + - rrbot_joint1/position + - rrbot_joint2/position + +- ExternalRRBotFTSensor (auto-start) + + - State interfaces: + + - rrbot_tcp_fts_sensor/force.x + - rrbot_tcp_fts_sensor/force.y + - rrbot_tcp_fts_sensor/force.z + - rrbot_tcp_fts_sensor/torque.x + - rrbot_tcp_fts_sensor/torque.y + - rrbot_tcp_fts_sensor/torque.z + +- RRBotSystemWithSensor (auto-configure) + + - Command interfaces: + + - rrbot_with_sensor_joint1/position + - rrbot_with_sensor_joint2/position + + - State interfaces: + + - rrbot_with_sensor_joint1/position + - rrbot_with_sensor_joint2/position + - rrbot_with_sensor_tcp_fts_sensor/force.x + - rrbot_with_sensor_tcp_fts_sensor/torque.z + +- ThreeDofBot + + - Command interfaces + + - threedofbot_joint1/position + - threedofbot_joint1/pid_gain + - threedofbot_joint2/position + - threedofbot_joint2/pid_gain + - threedofbot_joint3/position + - threedofbot_joint3/pid_gain + + - State interfaces: + + - threedofbot_joint1/position + - threedofbot_joint1/pid_gain + - threedofbot_joint2/position + - threedofbot_joint2/pid_gain + - threedofbot_joint3/position + - threedofbot_joint3/pid_gain + +Available controllers +------------------------- + +- ``joint_state_broadcaster[joint_state_broadcaster/JointStateBroadcaster]`` + +- RRBotSystemPositionOnly + + - ``rrbot_joint_state_broadcaster[joint_state_broadcaster/JointStateBroadcaster]`` + - ``rrbot_position_controller[forward_command_controller/ForwardCommandController]`` + +- ExternalRRBotFTSensor + + - ``rrbot_external_fts_broadcaster[force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster]`` + +- RRBotSystemPositionOnly + + - ``rrbot_with_sensor_joint_state_broadcaster[joint_state_broadcaster/JointStateBroadcaster]`` + - ``rrbot_with_sensor_position_controller[forward_command_controller/ForwardCommandController]`` + - ``rrbot_with_sensor_fts_broadcaster[force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster]`` + +- FakeThreeDofBot + + - ``threedofbot_joint_state_broadcaster[joint_state_broadcaster/JointStateBroadcaster]`` + - ``threedofbot_position_controller[forward_command_controller/ForwardCommandController]`` + - ``threedofbot_pid_gain_controller[forward_command_controller/ForwardCommandController]`` + + +Caveats on hardware lifecycling +-------------------------------- + +- There is currently no synchronization between available interface and controllers using them. + This means that you should stop controller before making interfaces they are using unavailable. + If you don't do this and deactivate/cleanup your interface first your computer will catch fire! +- Global Joint State Broadcaster will not broadcast interfaces that become available after it is started. + To solve this restart it manually, for now. During restart TF-transforms are not available. +- There is a possibility that hardware lifecycling (state changes) interfere with the ``update``-loop + if you are trying to start/stop a controller at the same time. + + +Tutorial steps +-------------------------- + +.. include:: ../../doc/run_from_docker.rst + +1. After starting the example there should be the following scene: + - right robot is moving (RRBotSystemPositionOnly - using auto-start) + - All interfaces are available and position controller is started and receives commands + - all controllers running + - left robot is standing upright (RRBotWithSensor - using auto-configure) + - only state interfaces are available therefore it can visualized, but not moved + - only position command controller is not running + - middle robot is "broken" (FakeThreeDofBot - it is only initialized) + - no interfaces are available + - all controllers inactive + + Hardware status: (``ros2 control list_hardware_components``) + + .. code-block:: shell + + Hardware Component 1 + name: FakeThreeDofBot + type: system + plugin name: mock_components/GenericSystem + state: id=1 label=unconfigured + command interfaces + threedofbot_joint1/position [unavailable] [unclaimed] + threedofbot_joint1/pid_gain [unavailable] [unclaimed] + threedofbot_joint2/position [unavailable] [unclaimed] + threedofbot_joint2/pid_gain [unavailable] [unclaimed] + threedofbot_joint3/position [unavailable] [unclaimed] + threedofbot_joint3/pid_gain [unavailable] [unclaimed] + Hardware Component 2 + name: RRBotSystemWithSensor + type: system + plugin name: ros2_control_demo_hardware/RRBotSystemWithSensorHardware + state: id=2 label=inactive + command interfaces + rrbot_with_sensor_joint1/position [available] [unclaimed] + rrbot_with_sensor_joint2/position [available] [unclaimed] + Hardware Component 3 + name: ExternalRRBotFTSensor + type: sensor + plugin name: ros2_control_demo_hardware/ExternalRRBotForceTorqueSensorHardware + state: id=3 label=active + command interfaces + Hardware Component 4 + name: RRBotSystemPositionOnly + type: system + plugin name: ros2_control_demo_hardware/RRBotSystemPositionOnlyHardware + state: id=3 label=active + command interfaces + rrbot_joint1/position [available] [claimed] + rrbot_joint2/position [available] [claimed] + + Controllers status: + + .. code-block:: shell + + $ ros2 control list_controllers + joint_state_broadcaster[joint_state_broadcaster/JointStateBroadcaster] active + rrbot_external_fts_broadcaster[force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster] active + rrbot_joint_state_broadcaster[joint_state_broadcaster/JointStateBroadcaster] active + rrbot_position_controller[forward_command_controller/ForwardCommandController] active + rrbot_with_sensor_fts_broadcaster[force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster] active + rrbot_with_sensor_joint_state_broadcaster[joint_state_broadcaster/JointStateBroadcaster] active + rrbot_with_sensor_position_controller[forward_command_controller/ForwardCommandController] inactive + threedofbot_joint_state_broadcaster[joint_state_broadcaster/JointStateBroadcaster] inactive + threedofbot_pid_gain_controller[forward_command_controller/ForwardCommandController] inactive + threedofbot_position_controller[forward_command_controller/ForwardCommandController] inactive + + +2. Activate ``RRBotWithSensor`` and its position controller. Call + + .. code-block:: shell + + ros2 service call /controller_manager/set_hardware_component_state controller_manager_msgs/srv/SetHardwareComponentState " + name: RRBotSystemWithSensor + target_state: + id: 0 + label: active" + ros2 control switch_controllers --activate rrbot_with_sensor_position_controller + + Scenario state: + + - right robot is moving + - left robot is moving + - middle robot is "broken" + + Hardware status: ``RRBotSystemWithSensor`` is in state active + + Controllers status: ``rrbot_with_sensor_position_controller`` is now active: + + .. code-block:: shell + + $ ros2 control list_controllers + joint_state_broadcaster[joint_state_broadcaster/JointStateBroadcaster] active + rrbot_external_fts_broadcaster[force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster] active + rrbot_joint_state_broadcaster[joint_state_broadcaster/JointStateBroadcaster] active + rrbot_position_controller[forward_command_controller/ForwardCommandController] active + rrbot_with_sensor_fts_broadcaster[force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster] active + rrbot_with_sensor_joint_state_broadcaster[joint_state_broadcaster/JointStateBroadcaster] active + rrbot_with_sensor_position_controller[forward_command_controller/ForwardCommandController] active + threedofbot_joint_state_broadcaster[joint_state_broadcaster/JointStateBroadcaster] inactive + threedofbot_pid_gain_controller[forward_command_controller/ForwardCommandController] inactive + threedofbot_position_controller[forward_command_controller/ForwardCommandController] inactive + + +3. Configure ``FakeThreeDofBot`` and its joint state broadcaster and non-movement command interfaces. Call + + .. code-block:: shell + + ros2 service call /controller_manager/set_hardware_component_state controller_manager_msgs/srv/SetHardwareComponentState " + name: FakeThreeDofBot + target_state: + id: 0 + label: inactive" + ros2 control switch_controllers --activate threedofbot_joint_state_broadcaster threedofbot_pid_gain_controller + + Scenario state: + + - right robot is moving + - left robot is moving + - middle robot is still "broken" + + Hardware status: ``FakeThreeDofBot`` is in inactive state. + + Controllers status, ``threedofbot_joint_state_broadcaster`` and ``threedofbot_pid_gain_controller`` are in active state now: + + .. code-block:: shell + + $ ros2 control list_controllers + joint_state_broadcaster[joint_state_broadcaster/JointStateBroadcaster] active + rrbot_external_fts_broadcaster[force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster] active + rrbot_joint_state_broadcaster[joint_state_broadcaster/JointStateBroadcaster] active + rrbot_position_controller[forward_command_controller/ForwardCommandController] active + rrbot_with_sensor_fts_broadcaster[force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster] active + rrbot_with_sensor_joint_state_broadcaster[joint_state_broadcaster/JointStateBroadcaster] active + rrbot_with_sensor_position_controller[forward_command_controller/ForwardCommandController] active + threedofbot_joint_state_broadcaster[joint_state_broadcaster/JointStateBroadcaster] active + threedofbot_pid_gain_controller[forward_command_controller/ForwardCommandController] active + threedofbot_position_controller[forward_command_controller/ForwardCommandController] inactive + + +4. Restart global joint state broadcaster to broadcast all available states from the framework. First check output to have comparison: + + .. code-block:: shell + + ros2 topic echo /joint_states --once + + Restart: + + .. code-block:: shell + + ros2 control switch_controllers --deactivate joint_state_broadcaster + ros2 control switch_controllers --activate joint_state_broadcaster + + Check output for comparison, now the joint_states of ``threedofbot`` and ``rrbot_with_sensor`` are broadcasted, too. + + .. code-block:: shell + + ros2 topic echo /joint_states --once + + Scenario state (everything is broken during ``joint_state_broadcaster`` restart): + + - right robot is moving + - left robot is moving + - middle robot is now still "standing" + +5. Activate ``FakeThreeDofBot`` and its joint state broadcaster and non-movement command interfaces. Call + + .. code-block:: shell + + ros2 service call /controller_manager/set_hardware_component_state controller_manager_msgs/srv/SetHardwareComponentState " + name: FakeThreeDofBot + target_state: + id: 0 + label: active" + ros2 control switch_controllers --activate threedofbot_position_controller + + Scenario state: + + - right robot is moving + - left robot is moving + - middle robot is moving + + Hardware status: ``FakeThreeDofBot`` is in active state. + + Controllers status (all active now): + + .. code-block:: shell + + $ ros2 control list_controllers + joint_state_broadcaster[joint_state_broadcaster/JointStateBroadcaster] active + rrbot_external_fts_broadcaster[force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster] active + rrbot_joint_state_broadcaster[joint_state_broadcaster/JointStateBroadcaster] active + rrbot_position_controller[forward_command_controller/ForwardCommandController] active + rrbot_with_sensor_fts_broadcaster[force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster] active + rrbot_with_sensor_joint_state_broadcaster[joint_state_broadcaster/JointStateBroadcaster] active + rrbot_with_sensor_position_controller[forward_command_controller/ForwardCommandController] active + threedofbot_joint_state_broadcaster[joint_state_broadcaster/JointStateBroadcaster] active + threedofbot_pid_gain_controller[forward_command_controller/ForwardCommandController] active + threedofbot_position_controller[forward_command_controller/ForwardCommandController] active + + +6. Deactivate ``RRBotSystemPositionOnly`` and its position controller (first). Call + + .. code-block:: shell + + ros2 control switch_controllers --deactivate rrbot_position_controller + ros2 service call /controller_manager/set_hardware_component_state controller_manager_msgs/srv/SetHardwareComponentState " + name: RRBotSystemPositionOnly + target_state: + id: 0 + label: inactive" + + Scenario state: + + - right robot is "standing" + - left robot is moving + - middle robot is moving + + Hardware status: ``RRBotSystemPositionOnly`` is in inactive state. + + Controllers status: ``rrbot_position_controller`` is now in inactive state + + .. code-block:: shell + + $ ros2 control list_controllers + joint_state_broadcaster[joint_state_broadcaster/JointStateBroadcaster] active + rrbot_external_fts_broadcaster[force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster] active + rrbot_joint_state_broadcaster[joint_state_broadcaster/JointStateBroadcaster] active + rrbot_position_controller[forward_command_controller/ForwardCommandController] inactive + rrbot_with_sensor_fts_broadcaster[force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster] active + rrbot_with_sensor_joint_state_broadcaster[joint_state_broadcaster/JointStateBroadcaster] active + rrbot_with_sensor_position_controller[forward_command_controller/ForwardCommandController] active + threedofbot_joint_state_broadcaster[joint_state_broadcaster/JointStateBroadcaster] active + threedofbot_pid_gain_controller[forward_command_controller/ForwardCommandController] active + threedofbot_position_controller[forward_command_controller/ForwardCommandController] active + + +7. Set ``RRBotSystemPositionOnly`` in unconfigured state, and deactivate its joint state broadcaster. Also restart global joint state broadcaster. Call + + .. code-block:: shell + + ros2 control switch_controllers --deactivate rrbot_joint_state_broadcaster joint_state_broadcaster + ros2 service call /controller_manager/set_hardware_component_state controller_manager_msgs/srv/SetHardwareComponentState " + name: RRBotSystemPositionOnly + target_state: + id: 0 + label: unconfigured" + ros2 service call /controller_manager/set_hardware_component_state controller_manager_msgs/srv/SetHardwareComponentState " + name: RRBotSystemPositionOnly + target_state: + id: 0 + label: finalized" + ros2 control switch_controllers --activate joint_state_broadcaster + + Scenario state (everything is broken during ``joint_state_broadcaster`` restart): + + - right robot is "broken" + - left robot is moving + - middle robot is moving + + Controllers status: + + .. code-block:: shell + + $ ros2 control list_controllers + joint_state_broadcaster[joint_state_broadcaster/JointStateBroadcaster] active + rrbot_external_fts_broadcaster[force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster] active + rrbot_joint_state_broadcaster[joint_state_broadcaster/JointStateBroadcaster] inactive + rrbot_position_controller[forward_command_controller/ForwardCommandController] inactive + rrbot_with_sensor_fts_broadcaster[force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster] active + rrbot_with_sensor_joint_state_broadcaster[joint_state_broadcaster/JointStateBroadcaster] active + rrbot_with_sensor_position_controller[forward_command_controller/ForwardCommandController] active + threedofbot_joint_state_broadcaster[joint_state_broadcaster/JointStateBroadcaster] active + threedofbot_pid_gain_controller[forward_command_controller/ForwardCommandController] active + threedofbot_position_controller[forward_command_controller/ForwardCommandController] active diff --git a/example_13/package.xml b/example_13/package.xml index 6f6640f25..00cc2eb39 100644 --- a/example_13/package.xml +++ b/example_13/package.xml @@ -16,8 +16,6 @@ ament_cmake - rrbot_description - r3bot_description ros2_control_demo_example_4 ros2_control_demo_example_5 rviz2