From b76e9697ee910514812ac77c2e143636655678aa Mon Sep 17 00:00:00 2001 From: Christoph Froehlich Date: Fri, 28 Apr 2023 15:59:34 +0000 Subject: [PATCH 01/36] Cleanup workflow files --- .github/workflows/ci-coverage-build.yml | 4 +-- .github/workflows/foxy-binary-build.yml | 22 --------------- .github/workflows/foxy-semi-binary-build.yml | 21 -------------- .github/workflows/galactic-binary-build.yml | 22 --------------- .../workflows/galactic-semi-binary-build.yml | 21 -------------- .github/workflows/rolling-binary-build.yml | 22 --------------- .../workflows/rolling-rhel-binary-build.yml | 28 ------------------- .../workflows/rolling-semi-binary-build.yml | 21 -------------- 8 files changed, 2 insertions(+), 159 deletions(-) delete mode 100644 .github/workflows/foxy-binary-build.yml delete mode 100644 .github/workflows/foxy-semi-binary-build.yml delete mode 100644 .github/workflows/galactic-binary-build.yml delete mode 100644 .github/workflows/galactic-semi-binary-build.yml delete mode 100644 .github/workflows/rolling-binary-build.yml delete mode 100644 .github/workflows/rolling-rhel-binary-build.yml delete mode 100644 .github/workflows/rolling-semi-binary-build.yml diff --git a/.github/workflows/ci-coverage-build.yml b/.github/workflows/ci-coverage-build.yml index 6c15b767a..37d176659 100644 --- a/.github/workflows/ci-coverage-build.yml +++ b/.github/workflows/ci-coverage-build.yml @@ -2,7 +2,7 @@ name: Coverage Build on: pull_request: branches: - - master + - humble jobs: coverage: @@ -11,7 +11,7 @@ jobs: strategy: fail-fast: false env: - ROS_DISTRO: rolling + ROS_DISTRO: humble container: image: ubuntu:jammy steps: diff --git a/.github/workflows/foxy-binary-build.yml b/.github/workflows/foxy-binary-build.yml deleted file mode 100644 index 2a1f70e36..000000000 --- a/.github/workflows/foxy-binary-build.yml +++ /dev/null @@ -1,22 +0,0 @@ -name: Foxy Binary Build -# author: Denis Štogl -# description: 'Build & test all dependencies from released (binary) packages.' - -on: - pull_request: - branches: - - foxy - push: - branches: - - foxy - schedule: - # Run every morning to detect flakiness and broken dependencies - - cron: '03 1 * * *' - -jobs: - binary: - uses: ./.github/workflows/reusable-industrial-ci-with-cache.yml - with: - ros_distro: foxy - upstream_workspace: ros2_control_demos-not-released.foxy.repos - ref_for_scheduled_build: foxy diff --git a/.github/workflows/foxy-semi-binary-build.yml b/.github/workflows/foxy-semi-binary-build.yml deleted file mode 100644 index 79effb05e..000000000 --- a/.github/workflows/foxy-semi-binary-build.yml +++ /dev/null @@ -1,21 +0,0 @@ -name: Foxy Semi-Binary Build -# description: 'Build & test that compiles the main dependencies from source.' - -on: - pull_request: - branches: - - foxy - push: - branches: - - foxy - schedule: - # Run every morning to detect flakiness and broken dependencies - - cron: '33 1 * * *' - -jobs: - semi_binary: - uses: ./.github/workflows/reusable-industrial-ci-with-cache.yml - with: - ros_distro: foxy - upstream_workspace: ros2_control_demos.foxy.repos - ref_for_scheduled_build: foxy diff --git a/.github/workflows/galactic-binary-build.yml b/.github/workflows/galactic-binary-build.yml deleted file mode 100644 index 85918578e..000000000 --- a/.github/workflows/galactic-binary-build.yml +++ /dev/null @@ -1,22 +0,0 @@ -name: Galactic Binary Build -# author: Denis Štogl -# description: 'Build & test all dependencies from released (binary) packages.' - -on: - pull_request: - branches: - - galactic - push: - branches: - - galactic - schedule: - # Run every morning to detect flakiness and broken dependencies - - cron: '03 1 * * *' - -jobs: - binary: - uses: ./.github/workflows/reusable-industrial-ci-with-cache.yml - with: - ros_distro: galactic - upstream_workspace: ros2_control_demos-not-released.galactic.repos - ref_for_scheduled_build: galactic diff --git a/.github/workflows/galactic-semi-binary-build.yml b/.github/workflows/galactic-semi-binary-build.yml deleted file mode 100644 index 7f4e23aa3..000000000 --- a/.github/workflows/galactic-semi-binary-build.yml +++ /dev/null @@ -1,21 +0,0 @@ -name: Galactic Semi-Binary Build -# description: 'Build & test that compiles the main dependencies from source.' - -on: - pull_request: - branches: - - galactic - push: - branches: - - galactic - schedule: - # Run every morning to detect flakiness and broken dependencies - - cron: '33 1 * * *' - -jobs: - semi_binary: - uses: ./.github/workflows/reusable-industrial-ci-with-cache.yml - with: - ros_distro: galactic - upstream_workspace: ros2_control_demos.galactic.repos - ref_for_scheduled_build: galactic diff --git a/.github/workflows/rolling-binary-build.yml b/.github/workflows/rolling-binary-build.yml deleted file mode 100644 index f3d89c288..000000000 --- a/.github/workflows/rolling-binary-build.yml +++ /dev/null @@ -1,22 +0,0 @@ -name: Rolling Binary Build -# author: Denis Štogl -# description: 'Build & test all dependencies from released (binary) packages.' - -on: - pull_request: - branches: - - master - push: - branches: - - master - schedule: - # Run every morning to detect flakiness and broken dependencies - - cron: '03 1 * * *' - -jobs: - binary: - uses: ./.github/workflows/reusable-industrial-ci-with-cache.yml - with: - ros_distro: rolling - upstream_workspace: ros2_control_demos-not-released.rolling.repos - ref_for_scheduled_build: master diff --git a/.github/workflows/rolling-rhel-binary-build.yml b/.github/workflows/rolling-rhel-binary-build.yml deleted file mode 100644 index 09112d378..000000000 --- a/.github/workflows/rolling-rhel-binary-build.yml +++ /dev/null @@ -1,28 +0,0 @@ -name: Rolling RHEL Binary Build -on: - workflow_dispatch: - push: - branches: - - master - schedule: - # Run every day to detect flakiness and broken dependencies - - cron: '03 1 * * *' - - -jobs: - rolling_rhel_binary: - name: Rolling RHEL binary build - runs-on: ubuntu-latest - env: - ROS_DISTRO: rolling - container: ghcr.io/ros-controls/ros:rolling-rhel - steps: - - uses: actions/checkout@v3 - with: - path: src/ros2_control_demos - - run: | - rosdep update - rosdep install -iy --from-path src/ros2_control_demos - source /opt/ros/${{ env.ROS_DISTRO }}/setup.bash - colcon build - colcon test diff --git a/.github/workflows/rolling-semi-binary-build.yml b/.github/workflows/rolling-semi-binary-build.yml deleted file mode 100644 index ed527fea3..000000000 --- a/.github/workflows/rolling-semi-binary-build.yml +++ /dev/null @@ -1,21 +0,0 @@ -name: Rolling Semi-Binary Build -# description: 'Build & test that compiles the main dependencies from source.' - -on: - pull_request: - branches: - - master - push: - branches: - - master - schedule: - # Run every morning to detect flakiness and broken dependencies - - cron: '33 1 * * *' - -jobs: - semi_binary: - uses: ./.github/workflows/reusable-industrial-ci-with-cache.yml - with: - ros_distro: rolling - upstream_workspace: ros2_control_demos.rolling.repos - ref_for_scheduled_build: master From 864f789846221847b2408b1296353c9f12a336c3 Mon Sep 17 00:00:00 2001 From: Christoph Froehlich Date: Fri, 28 Apr 2023 15:59:55 +0000 Subject: [PATCH 02/36] Add humble workflow + repos files --- .github/workflows/humble-binary-build.yml | 21 +++++++++++++++++++ .../workflows/humble-semi-binary-build.yml | 21 +++++++++++++++++++ README.md | 1 + ros2_control_demos-not-released.humble.repos | 1 + ros2_control_demos.humble.repos | 17 +++++++++++++++ 5 files changed, 61 insertions(+) create mode 100644 .github/workflows/humble-binary-build.yml create mode 100644 .github/workflows/humble-semi-binary-build.yml create mode 100644 ros2_control_demos-not-released.humble.repos create mode 100644 ros2_control_demos.humble.repos diff --git a/.github/workflows/humble-binary-build.yml b/.github/workflows/humble-binary-build.yml new file mode 100644 index 000000000..6270c36be --- /dev/null +++ b/.github/workflows/humble-binary-build.yml @@ -0,0 +1,21 @@ +name: Humble Binary Build +# description: 'Build & test all dependencies from released (binary) packages.' + +on: + pull_request: + branches: + - humble + push: + branches: + - humble + schedule: + # Run every morning to detect flakiness and broken dependencies + - cron: '03 1 * * *' + +jobs: + binary: + uses: ./.github/workflows/reusable-industrial-ci-with-cache.yml + with: + ros_distro: humble + upstream_workspace: ros2_control_demos-not-released.humble.repos + ref_for_scheduled_build: humble diff --git a/.github/workflows/humble-semi-binary-build.yml b/.github/workflows/humble-semi-binary-build.yml new file mode 100644 index 000000000..3def6c31a --- /dev/null +++ b/.github/workflows/humble-semi-binary-build.yml @@ -0,0 +1,21 @@ +name: Humble Semi-Binary Build +# description: 'Build & test that compiles the main dependencies from source.' + +on: + pull_request: + branches: + - humble + push: + branches: + - humble + schedule: + # Run every morning to detect flakiness and broken dependencies + - cron: '33 1 * * *' + +jobs: + semi_binary: + uses: ./.github/workflows/reusable-industrial-ci-with-cache.yml + with: + ros_distro: humble + upstream_workspace: ros2_control_demos.humble.repos + ref_for_scheduled_build: humble diff --git a/README.md b/README.md index 94ff920a6..9e8e817cb 100644 --- a/README.md +++ b/README.md @@ -82,6 +82,7 @@ Those two world-known imaginary robots are trivial simulations to demonstrate an ROS 2 Distro | Branch | Build status | Documentation :----------: | :----: | :----------: | :-----------: **Rolling** | [`master`](https://github.com/ros-controls/ros2_control_demos/tree/rolling) | [![Rolling Binary Build](https://github.com/ros-controls/ros2_control_demos/actions/workflows/rolling-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_control_demos/actions/workflows/rolling-binary-build.yml?branch=master)
[![Rolling Semi-Binary Build](https://github.com/ros-controls/ros2_control_demos/actions/workflows/rolling-semi-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_control_demos/actions/workflows/rolling-semi-binary-build.yml?branch=master)
| [Documentation](https://control.ros.org/master/index.html)
[API Reference](https://control.ros.org/master/doc/api/index.html) +**Humble** | [`humble`](https://github.com/ros-controls/ros2_control_demos/tree/humble) | [![Humble Binary Build](https://github.com/ros-controls/ros2_control_demos/actions/workflows/humble-binary-build.yml/badge.svg?branch=humble)](https://github.com/ros-controls/ros2_control_demos/actions/workflows/humble-binary-build.yml?branch=humble)
[![Humble Semi-Binary Build](https://github.com/ros-controls/ros2_control_demos/actions/workflows/humble-semi-binary-build.yml/badge.svg?branch=humble)](https://github.com/ros-controls/ros2_control_demos/actions/workflows/humble-semi-binary-build.yml?branch=humble)
| [Documentation](https://control.ros.org/humble/index.html)
[API Reference](https://control.ros.org/humble/doc/api/index.html) **Galactic** | [`galactic`](https://github.com/ros-controls/ros2_control_demos/tree/galactic) | [![Galactic Binary Build](https://github.com/ros-controls/ros2_control_demos/actions/workflows/galactic-binary-build.yml/badge.svg?branch=galactic)](https://github.com/ros-controls/ros2_control_demos/actions/workflows/galactic-binary-build.yml?branch=galactic)
[![Galactic Semi-Binary Build](https://github.com/ros-controls/ros2_control_demos/actions/workflows/galactic-semi-binary-build.yml/badge.svg?branch=galactic)](https://github.com/ros-controls/ros2_control_demos/actions/workflows/galactic-semi-binary-build.yml?branch=galactic)
| [Documentation](https://control.ros.org/galactic/index.html)
[API Reference](https://control.ros.org/galactic/doc/api/index.html) **Foxy** | [`foxy`](https://github.com/ros-controls/ros2_control_demos/tree/foxy) | [![Foxy Binary Build](https://github.com/ros-controls/ros2_control_demos/actions/workflows/foxy-binary-build.yml/badge.svg?branch=foxy)](https://github.com/ros-controls/ros2_control_demos/actions/workflows/foxy-binary-build.yml?branch=foxy)
[![Foxy Semi-Binary Build](https://github.com/ros-controls/ros2_control_demos/actions/workflows/foxy-semi-binary-build.yml/badge.svg?branch=foxy)](https://github.com/ros-controls/ros2_control_demos/actions/workflows/foxy-semi-binary-build.yml?branch=foxy)
| [Documentation](https://control.ros.org/foxy/index.html)
[API Reference](https://control.ros.org/foxy/doc/api/index.html) diff --git a/ros2_control_demos-not-released.humble.repos b/ros2_control_demos-not-released.humble.repos new file mode 100644 index 000000000..56f46b6f7 --- /dev/null +++ b/ros2_control_demos-not-released.humble.repos @@ -0,0 +1 @@ +repositories: diff --git a/ros2_control_demos.humble.repos b/ros2_control_demos.humble.repos new file mode 100644 index 000000000..e7fb6e544 --- /dev/null +++ b/ros2_control_demos.humble.repos @@ -0,0 +1,17 @@ +repositories: + control_msgs: + type: git + url: https://github.com/ros-controls/control_msgs.git + version: humble + realtime_tools: + type: git + url: https://github.com/ros-controls/realtime_tools.git + version: master + ros2_control: + type: git + url: https://github.com/ros-controls/ros2_control.git + version: humble + ros2_controllers: + type: git + url: https://github.com/ros-controls/ros2_controllers.git + version: humble From 46085849347dc38758e89968102716942255eebe Mon Sep 17 00:00:00 2001 From: "mergify[bot]" <37929162+mergify[bot]@users.noreply.github.com> Date: Sat, 29 Apr 2023 11:35:15 +0200 Subject: [PATCH 03/36] Fix docs format (#280) (#281) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit (cherry picked from commit 836ec5d76373dc450de047c208100560069f81a3) Co-authored-by: Christoph Fröhlich --- doc/index.rst | 57 +++++++++++++++++---------------------- example_1/doc/userdoc.rst | 32 +++++++++++----------- example_2/doc/userdoc.rst | 26 +++++++++--------- example_3/doc/userdoc.rst | 40 ++++++++++++++------------- example_4/doc/userdoc.rst | 30 ++++++++++----------- example_5/doc/userdoc.rst | 36 ++++++++++++------------- example_6/doc/userdoc.rst | 26 +++++++++--------- example_8/doc/userdoc.rst | 26 +++++++++--------- 8 files changed, 134 insertions(+), 139 deletions(-) diff --git a/doc/index.rst b/doc/index.rst index 5b36d98f7..9a5f5fecb 100644 --- a/doc/index.rst +++ b/doc/index.rst @@ -15,13 +15,13 @@ What you can find in this repository This repository demonstrates the following ``ros2_control`` concepts: -* Creating a ``HardwareInterface`` for a System, Sensor, and Actuator. -* Creating a robot description in the form of URDF files. -* Loading the configuration and starting a robot using launch files. -* Control of a differential mobile base *DiffBot*. -* Control of two joints of *RRBot*. -* Implementing a controller switching strategy for a robot. -* Using joint limits and transmission concepts in ``ros2_control``. + * Creating a ``HardwareInterface`` for a System, Sensor, and Actuator. + * Creating a robot description in the form of URDF files. + * Loading the configuration and starting a robot using launch files. + * Control of a differential mobile base *DiffBot*. + * Control of two joints of *RRBot*. + * Implementing a controller switching strategy for a robot. + * Using joint limits and transmission concepts in ``ros2_control``. ===================== Goals @@ -36,38 +36,31 @@ The repository has two other goals: Example Overview ===================== -* Example 1: RRBot - +Example 1: RRBot *RRBot* - or ''Revolute-Revolute Manipulator Robot'' - a simple position controlled robot with one hardware interface. This example also demonstrates the switching between different controllers. -* Example 2: DiffBot - +Example 2: DiffBot *DiffBot*, or ''Differential Mobile Robot'', is a simple mobile base with differential drive. The robot is basically a box moving according to differential drive kinematics. -* Example 3: "RRBot with multiple interfaces" - +Example 3: "RRBot with multiple interfaces" *RRBot* with multiple interfaces. -* Example 4: "Industrial robot with integrated sensor" - +Example 4: "Industrial robot with integrated sensor" *RRBot* with an integrated sensor. -* Example 5: "Industrial Robots with externally connected sensor" - +Example 5: "Industrial Robots with externally connected sensor" *RRBot* with an externally connected sensor. -* Example 6: "Modular Robots with separate communication to each actuator" - +Example 6: "Modular Robots with separate communication to each actuator" The example shows how to implement robot hardware with separate communication to each actuator. -* Example 8: "Using transmissions" - +Example 8: "Using transmissions" *RRBot* with an exposed transmission interface. ===================== @@ -76,17 +69,17 @@ Quick Hints These are some quick hints, especially for those coming from a ROS1 control background: -* There are now three categories of hardware components: *Sensor*, *Actuator*, and *System*. - *Sensor* is for individual sensors; *Actuator* is for individual actuators; *System* is for any combination of multiple sensors/actuators. - You could think of a Sensor as read-only. - All components are used as plugins and therefore exported using ``PLUGINLIB_EXPORT_CLASS`` macro. -* *ros(1)_control* only allowed three hardware interface types: position, velocity, and effort. - *ros2_control* allows you to create any interface type by defining a custom string. For example, you might define a ``position_in_degrees`` or a ``temperature`` interface. - The most common (position, velocity, acceleration, effort) are already defined as constants in hardware_interface/types/hardware_interface_type_values.hpp. -* Joint names in tags in the URDF must be compatible with the controller's configuration. -* In ros2_control, all parameters for the driver are specified in the URDF. - The ros2_control framework uses the **** tag in the URDF. -* Joint names in tags in the URDF must be compatible with the controller's configuration. + * There are now three categories of hardware components: *Sensor*, *Actuator*, and *System*. + *Sensor* is for individual sensors; *Actuator* is for individual actuators; *System* is for any combination of multiple sensors/actuators. + You could think of a Sensor as read-only. + All components are used as plugins and therefore exported using ``PLUGINLIB_EXPORT_CLASS`` macro. + * *ros(1)_control* only allowed three hardware interface types: position, velocity, and effort. + *ros2_control* allows you to create any interface type by defining a custom string. For example, you might define a ``position_in_degrees`` or a ``temperature`` interface. + The most common (position, velocity, acceleration, effort) are already defined as constants in hardware_interface/types/hardware_interface_type_values.hpp. + * Joint names in tags in the URDF must be compatible with the controller's configuration. + * In ros2_control, all parameters for the driver are specified in the URDF. + The ros2_control framework uses the **** tag in the URDF. + * Joint names in tags in the URDF must be compatible with the controller's configuration. ===================== Examples diff --git a/example_1/doc/userdoc.rst b/example_1/doc/userdoc.rst index 8bd4dd4d7..996cd4c63 100644 --- a/example_1/doc/userdoc.rst +++ b/example_1/doc/userdoc.rst @@ -11,9 +11,9 @@ simulator and was originally introduced for Gazebo tutorials. For *example_1*, the hardware interface plugin is implemented having only one interface. -- The communication is done using proprietary API to communicate with the robot control box. -- Data for all joints is exchanged at once. -- Examples: KUKA RSI +* The communication is done using proprietary API to communicate with the robot control box. +* Data for all joints is exchanged at once. +* Examples: KUKA RSI The *RRBot* URDF files can be found in the ``description/urdf`` folder. @@ -39,8 +39,8 @@ Tutorial steps The *RViz* setup can be recreated following these steps: - - The robot models can be visualized using ``RobotModel`` display using ``/robot_description`` topic. - - Or you can simply open the configuration from ``description/rviz`` folder manually or directly by executing + * The robot models can be visualized using ``RobotModel`` display using ``/robot_description`` topic. + * Or you can simply open the configuration from ``description/rviz`` folder manually or directly by executing .. code-block:: shell @@ -213,24 +213,24 @@ Tutorial steps Files used for this demos ------------------------- -- Launch file: `rrbot.launch.py `__ -- Controllers yaml: `rrbot_controllers.yaml `__ -- URDF file: `rrbot.urdf.xacro `__ +* Launch file: `rrbot.launch.py `__ +* Controllers yaml: `rrbot_controllers.yaml `__ +* URDF file: `rrbot.urdf.xacro `__ - + Description: `rrbot_description.urdf.xacro `__ - + ``ros2_control`` tag: `rrbot.ros2_control.xacro `__ + * Description: `rrbot_description.urdf.xacro `__ + * ``ros2_control`` tag: `rrbot.ros2_control.xacro `__ -- RViz configuration: `rrbot.rviz `__ -- Test nodes goals configuration: +* RViz configuration: `rrbot.rviz `__ +* Test nodes goals configuration: + `rrbot_forward_position_publisher `__ + `rrbot_joint_trajectory_publisher `__ -- Hardware interface plugin: `rrbot.cpp `__ +* Hardware interface plugin: `rrbot.cpp `__ Controllers from this demo -------------------------- -- ``Joint State Broadcaster`` (`ros2_controllers repository `__): `doc `__ -- ``Forward Command Controller`` (`ros2_controllers repository `__): `doc `__ -- ``Joint Trajectory Controller`` (`ros2_controllers repository `__): `doc `__ + * ``Joint State Broadcaster`` (`ros2_controllers repository `__): `doc `__ + * ``Forward Command Controller`` (`ros2_controllers repository `__): `doc `__ + * ``Joint Trajectory Controller`` (`ros2_controllers repository `__): `doc `__ diff --git a/example_2/doc/userdoc.rst b/example_2/doc/userdoc.rst index 6f3335ddb..5007aac24 100644 --- a/example_2/doc/userdoc.rst +++ b/example_2/doc/userdoc.rst @@ -9,8 +9,8 @@ The robot is basically a box moving according to differential drive kinematics. For *example_2*, the hardware interface plugin is implemented having only one interface. -- The communication is done using proprietary API to communicate with the robot control box. -- Data for all joints is exchanged at once. +* The communication is done using proprietary API to communicate with the robot control box. +* Data for all joints is exchanged at once. The *DiffBot* URDF files can be found in ``description/urdf`` folder. @@ -100,22 +100,22 @@ Tutorial steps [DiffBotSystemHardware]: Got command 50.00000 for 'right_wheel_joint'! Files used for this demos -######################### +-------------------------- - - Launch file: `diffbot.launch.py `__ - - Controllers yaml: `diffbot_controllers.yaml `__ - - URDF file: `diffbot.urdf.xacro `__ +* Launch file: `diffbot.launch.py `__ +* Controllers yaml: `diffbot_controllers.yaml `__ +* URDF file: `diffbot.urdf.xacro `__ - + Description: `diffbot_description.urdf.xacro `__ - + ``ros2_control`` tag: `diffbot.ros2_control.xacro `__ + * Description: `diffbot_description.urdf.xacro `__ + * ``ros2_control`` tag: `diffbot.ros2_control.xacro `__ - - RViz configuration: `diffbot.rviz `__ +* RViz configuration: `diffbot.rviz `__ - - Hardware interface plugin: `diffbot_system.cpp `__ +* Hardware interface plugin: `diffbot_system.cpp `__ Controllers from this demo -########################## +-------------------------- -- ``Joint State Broadcaster`` (`ros2_controllers repository `__): `doc `__ -- ``Diff Drive Controller`` (`ros2_controllers repository `__): `doc `__ +* ``Joint State Broadcaster`` (`ros2_controllers repository `__): `doc `__ +* ``Diff Drive Controller`` (`ros2_controllers repository `__): `doc `__ diff --git a/example_3/doc/userdoc.rst b/example_3/doc/userdoc.rst index b12f51f84..d2033cf04 100644 --- a/example_3/doc/userdoc.rst +++ b/example_3/doc/userdoc.rst @@ -8,9 +8,9 @@ The example shows how to implement multi-interface robot hardware taking care ab For *example_3*, the hardware interface plugin is implemented having multiple interfaces. -- The communication is done using proprietary API to communicate with the robot control box. -- Data for all joints is exchanged at once. -- Examples: KUKA FRI, ABB Yumi, Schunk LWA4p, etc. +* The communication is done using proprietary API to communicate with the robot control box. +* Data for all joints is exchanged at once. +* Examples: KUKA FRI, ABB Yumi, Schunk LWA4p, etc. Two illegal controllers demonstrate how hardware interface declines faulty claims to access joint command interfaces. @@ -37,10 +37,12 @@ Tutorial steps ros2 launch ros2_control_demo_example_3 rrbot_system_multi_interface.launch.py Useful launch-file options: - - ``robot_controller:=forward_position_controller`` - starts demo and spawns position controller. - Robot can be then controlled using ``forward_position_controller`` as described below. - - ``robot_controller:=forward_acceleration_controller`` - starts demo and spawns acceleration controller. - Robot can be then controlled using ``forward_acceleration_controller`` as described below. + + ``robot_controller:=forward_position_controller`` + starts demo and spawns position controller. Robot can be then controlled using ``forward_position_controller`` as described below. + + ``robot_controller:=forward_acceleration_controller`` + starts demo and spawns acceleration controller. Robot can be then controlled using ``forward_acceleration_controller`` as described below. The launch file loads and starts the robot hardware, controllers and opens *RViz*. In starting terminal you will see a lot of output from the hardware implementation showing its internal states. @@ -136,8 +138,8 @@ Tutorial steps 6. To demonstrate illegal controller configuration, use one of the following launch file arguments: - - ``robot_controller:=forward_illegal1_controller`` or - - ``robot_controller:=forward_illegal2_controller`` + * ``robot_controller:=forward_illegal1_controller`` or + * ``robot_controller:=forward_illegal2_controller`` You will see the following error messages, because the hardware interface enforces all joints having the same command interface @@ -182,18 +184,18 @@ Tutorial steps forward_illegal1_controller[forward_command_controller/ForwardCommandController] inactive Files used for this demos -######################### +-------------------------- -- Launch file: `rrbot_system_multi_interface.launch.py `__ -- Controllers yaml: `rrbot_multi_interface_forward_controllers.yaml `__ -- URDF: `rrbot_system_multi_interface.urdf.xacro `__ +* Launch file: `rrbot_system_multi_interface.launch.py `__ +* Controllers yaml: `rrbot_multi_interface_forward_controllers.yaml `__ +* URDF: `rrbot_system_multi_interface.urdf.xacro `__ - + ``ros2_control`` URDF tag: `rrbot_system_multi_interface.ros2_control.xacro `__ + * ``ros2_control`` URDF tag: `rrbot_system_multi_interface.ros2_control.xacro `__ -- RViz configuration: `rrbot.rviz `__ -- Hardware interface plugin: `rrbot_system_multi_interface.cpp `__ +* RViz configuration: `rrbot.rviz `__ +* Hardware interface plugin: `rrbot_system_multi_interface.cpp `__ Controllers from this demo -########################## -- ``Joint State Broadcaster`` (`ros2_controllers repository `__): `doc `__ -- ``Forward Command Controller`` (`ros2_controllers repository `__): `doc `__ +-------------------------- +* ``Joint State Broadcaster`` (`ros2_controllers repository `__): `doc `__ +* ``Forward Command Controller`` (`ros2_controllers repository `__): `doc `__ diff --git a/example_4/doc/userdoc.rst b/example_4/doc/userdoc.rst index 4cedc989b..0494ca417 100644 --- a/example_4/doc/userdoc.rst +++ b/example_4/doc/userdoc.rst @@ -6,10 +6,10 @@ Example 4: Industrial robot with integrated sensor This example shows how a sensor can be integrated in a hardware interface: -- The communication is done using proprietary API to communicate with the robot control box. -- Data for all joints is exchanged at once. -- Sensor data are exchanged together with joint data -- Examples: KUKA RSI with sensor connected to KRC (KUKA control box) or a prototype robot (ODRI interface). +* The communication is done using proprietary API to communicate with the robot control box. +* Data for all joints is exchanged at once. +* Sensor data are exchanged together with joint data +* Examples: KUKA RSI with sensor connected to KRC (KUKA control box) or a prototype robot (ODRI interface). A 2D Force-Torque Sensor (FTS) is simulated by generating random sensor readings via a hardware interface of type ``hardware_interface::SystemInterface``. @@ -130,20 +130,20 @@ Tutorial steps Files used for this demo -######################### +-------------------------- -- Launch file: `rrbot_system_with_sensor.launch.py `__ -- Controllers yaml: `rrbot_with_sensor_controllers.yaml `__ -- URDF: `rrbot_system_with_sensor.urdf.xacro `__ +* Launch file: `rrbot_system_with_sensor.launch.py `__ +* Controllers yaml: `rrbot_with_sensor_controllers.yaml `__ +* URDF: `rrbot_system_with_sensor.urdf.xacro `__ - + ``ros2_control`` URDF tag: `rrbot_system_with_sensor.ros2_control.xacro `__ + * ``ros2_control`` URDF tag: `rrbot_system_with_sensor.ros2_control.xacro `__ -- RViz configuration: `rrbot.rviz `__ -- Hardware interface plugin: `rrbot_system_with_sensor.cpp `__ +* RViz configuration: `rrbot.rviz `__ +* Hardware interface plugin: `rrbot_system_with_sensor.cpp `__ Controllers from this demo -########################## -- ``Joint State Broadcaster`` (`ros2_controllers repository `__): `doc `__ -- ``Forward Command Controller`` (`ros2_controllers repository `__): `doc `__ -- ``Force Torque Sensor Broadcaster`` (`ros2_controllers repository `__): `doc `__ +-------------------------- +* ``Joint State Broadcaster`` (`ros2_controllers repository `__): `doc `__ +* ``Forward Command Controller`` (`ros2_controllers repository `__): `doc `__ +* ``Force Torque Sensor Broadcaster`` (`ros2_controllers repository `__): `doc `__ diff --git a/example_5/doc/userdoc.rst b/example_5/doc/userdoc.rst index dadfc604c..b7903873b 100644 --- a/example_5/doc/userdoc.rst +++ b/example_5/doc/userdoc.rst @@ -6,10 +6,10 @@ Example 5: Industrial robot with externally connected sensor This example shows how an externally connected sensor can be accessed: -- The communication is done using proprietary API to communicate with the robot control box. -- Data for all joints is exchanged at once. -- Sensor data are exchanged independently of joint data. -- Examples: KUKA RSI and FTS connected to independent PC with ROS 2. +* The communication is done using proprietary API to communicate with the robot control box. +* Data for all joints is exchanged at once. +* Sensor data are exchanged independently of joint data. +* Examples: KUKA RSI and FTS connected to independent PC with ROS 2. A 3D Force-Torque Sensor (FTS) is simulated by generating random sensor readings via a hardware interface of type ``hardware_interface::SensorInterface``. @@ -134,23 +134,23 @@ Tutorial steps :alt: Revolute-Revolute Manipulator Robot with wrench visualization Files used for this demos -######################### +-------------------------- -- Launch file: `rrbot_system_with_external_sensor.launch.py `__ -- Controllers yaml: `rrbot_with_external_sensor_controllers.yaml `__ -- URDF: `rrbot_with_external_sensor_controllers.urdf.xacro `__ +* Launch file: `rrbot_system_with_external_sensor.launch.py `__ +* Controllers yaml: `rrbot_with_external_sensor_controllers.yaml `__ +* URDF: `rrbot_with_external_sensor_controllers.urdf.xacro `__ - + ``ros2_control`` robot: `rrbot_system_position_only.ros2_control.xacro `__ - + ``ros2_control`` sensor: `external_rrbot_force_torque_sensor.ros2_control.xacro `__ + * ``ros2_control`` robot: `rrbot_system_position_only.ros2_control.xacro `__ + * ``ros2_control`` sensor: `external_rrbot_force_torque_sensor.ros2_control.xacro `__ -- RViz configuration: `rrbot.rviz `__ -- Hardware interface plugin: +* RViz configuration: `rrbot.rviz `__ +* Hardware interface plugin: - + robot `rrbot.cpp `__ - + sensor `external_rrbot_force_torque_sensor.cpp `__ + * robot `rrbot.cpp `__ + * sensor `external_rrbot_force_torque_sensor.cpp `__ Controllers from this demo -########################## -- ``Joint State Broadcaster`` (`ros2_controllers repository `__): `doc `__ -- ``Forward Command Controller`` (`ros2_controllers repository `__): `doc `__ -- ``Force Torque Sensor Broadcaster`` (`ros2_controllers repository `__): `doc `__ +-------------------------- +* ``Joint State Broadcaster`` (`ros2_controllers repository `__): `doc `__ +* ``Forward Command Controller`` (`ros2_controllers repository `__): `doc `__ +* ``Force Torque Sensor Broadcaster`` (`ros2_controllers repository `__): `doc `__ diff --git a/example_6/doc/userdoc.rst b/example_6/doc/userdoc.rst index b7d0d0d33..9ee6b5ca2 100644 --- a/example_6/doc/userdoc.rst +++ b/example_6/doc/userdoc.rst @@ -6,9 +6,9 @@ Example 6: Modular Robots with separate communication to each actuator The example shows how to implement robot hardware with separate communication to each actuator: -- The communication is done on actuator level using proprietary or standardized API (e.g., canopen_402, Modbus, RS232, RS485). -- Data for all actuators is exchanged separately from each other. -- Examples: Mara, Arduino-based-robots +* The communication is done on actuator level using proprietary or standardized API (e.g., canopen_402, Modbus, RS232, RS485). +* Data for all actuators is exchanged separately from each other. +* Examples: Mara, Arduino-based-robots This is implemented with a hardware interface of type ``hardware_interface::ActuatorInterface``. @@ -99,19 +99,19 @@ Tutorial steps Files used for this demos -######################### +-------------------------- -- Launch file: `rrbot_modular_actuators.launch.py `__ -- Controllers yaml: `rrbot_modular_actuators.yaml `__ -- URDF: `rrbot_modular_actuators.urdf.xacro `__ +* Launch file: `rrbot_modular_actuators.launch.py `__ +* Controllers yaml: `rrbot_modular_actuators.yaml `__ +* URDF: `rrbot_modular_actuators.urdf.xacro `__ - + ``ros2_control`` URDF tag: `rrbot_modular_actuators.ros2_control.xacro `__ + * ``ros2_control`` URDF tag: `rrbot_modular_actuators.ros2_control.xacro `__ -- RViz configuration: `rrbot.rviz `__ +* RViz configuration: `rrbot.rviz `__ -- Hardware interface plugin: `rrbot_actuator.cpp `__ +* Hardware interface plugin: `rrbot_actuator.cpp `__ Controllers from this demo -########################## -- ``Joint State Broadcaster`` (`ros2_controllers repository `__): `doc `__ -- ``Forward Command Controller`` (`ros2_controllers repository `__): `doc `__ +-------------------------- +* ``Joint State Broadcaster`` (`ros2_controllers repository `__): `doc `__ +* ``Forward Command Controller`` (`ros2_controllers repository `__): `doc `__ diff --git a/example_8/doc/userdoc.rst b/example_8/doc/userdoc.rst index bc86cece4..5a9510b0d 100644 --- a/example_8/doc/userdoc.rst +++ b/example_8/doc/userdoc.rst @@ -8,8 +8,8 @@ Example 8: Industrial Robots with an exposed transmission interface In this example, both joints use an exposed transmission interface: -- The communication is done using proprietary API to communicate with the robot control box. -- Data for all joints is exchanged at once. + * The communication is done using proprietary API to communicate with the robot control box. + * Data for all joints is exchanged at once. Tutorial steps -------------------------- @@ -97,21 +97,21 @@ Tutorial steps Files used for this demos -######################### +-------------------------- -- Launch file: `rrbot_transmissions_system_position_only.launch.py `__ -- Controllers yaml: `rrbot_controllers.yaml `__ -- URDF file: `rrbot_transmissions_system_position_only.urdf.xacro `__ +* Launch file: `rrbot_transmissions_system_position_only.launch.py `__ +* Controllers yaml: `rrbot_controllers.yaml `__ +* URDF file: `rrbot_transmissions_system_position_only.urdf.xacro `__ - + Description: `rrbot_description.urdf.xacro `__ - + ``ros2_control`` tag: `rrbot_transmissions_system_position_only.ros2_control.xacro `__ + * Description: `rrbot_description.urdf.xacro `__ + * ``ros2_control`` tag: `rrbot_transmissions_system_position_only.ros2_control.xacro `__ -- RViz configuration: `rrbot.rviz `__ +* RViz configuration: `rrbot.rviz `__ -- Hardware interface plugin: `rrbot_transmissions_system_position_only.cpp `__ +* Hardware interface plugin: `rrbot_transmissions_system_position_only.cpp `__ Controllers from this demo -########################## -- ``Joint State Broadcaster`` (`ros2_controllers repository `__): `doc `__ -- ``Forward Command Controller`` (`ros2_controllers repository `__): `doc `__ +-------------------------- +* ``Joint State Broadcaster`` (`ros2_controllers repository `__): `doc `__ +* ``Forward Command Controller`` (`ros2_controllers repository `__): `doc `__ From 0e315d985945b8dd71e62d714f83b0bfd09addbf Mon Sep 17 00:00:00 2001 From: "mergify[bot]" <37929162+mergify[bot]@users.noreply.github.com> Date: Tue, 2 May 2023 09:30:50 +0200 Subject: [PATCH 04/36] [Example 4+5] Fix tool link and slowdown (#266) (#283) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit * Fix slowdown of hw interface of example_4 * Readd missing joints for tool_link (cherry picked from commit f5ccac1576dc1a116b822c2a817a1467e25a93b2) Co-authored-by: Christoph Fröhlich --- example_4/description/rviz/rrbot.rviz | 3 ++- .../description/urdf/rrbot_description.urdf.xacro | 10 ++++++++++ example_4/hardware/rrbot_system_with_sensor.cpp | 3 +-- .../description/urdf/rrbot_description.urdf.xacro | 10 ++++++++++ 4 files changed, 23 insertions(+), 3 deletions(-) diff --git a/example_4/description/rviz/rrbot.rviz b/example_4/description/rviz/rrbot.rviz index 0efbecc38..adb274d83 100644 --- a/example_4/description/rviz/rrbot.rviz +++ b/example_4/description/rviz/rrbot.rviz @@ -103,7 +103,8 @@ Visualization Manager: Update Interval: 0 Value: true Visual Enabled: true - - Alpha: 1 + - Accept NaN Values: true + Alpha: 1 Arrow Width: 0.5 Class: rviz_default_plugins/Wrench Enabled: true diff --git a/example_4/description/urdf/rrbot_description.urdf.xacro b/example_4/description/urdf/rrbot_description.urdf.xacro index cfcb0388b..d4ddcb744 100644 --- a/example_4/description/urdf/rrbot_description.urdf.xacro +++ b/example_4/description/urdf/rrbot_description.urdf.xacro @@ -114,6 +114,16 @@ + + + + + + + + + + diff --git a/example_4/hardware/rrbot_system_with_sensor.cpp b/example_4/hardware/rrbot_system_with_sensor.cpp index 65dcd929c..eea370e1f 100644 --- a/example_4/hardware/rrbot_system_with_sensor.cpp +++ b/example_4/hardware/rrbot_system_with_sensor.cpp @@ -216,8 +216,7 @@ hardware_interface::return_type RRBotSystemWithSensorHardware::read( for (uint i = 0; i < hw_joint_states_.size(); i++) { // Simulate RRBot's movement - hw_joint_states_[i] = - hw_joint_commands_[i] + (hw_joint_states_[i] - hw_joint_commands_[i]) / hw_slowdown_; + hw_joint_states_[i] += (hw_joint_commands_[i] - hw_joint_states_[i]) / hw_slowdown_; RCLCPP_INFO( rclcpp::get_logger("RRBotSystemWithSensorHardware"), "Got state %.5f for joint %u!", hw_joint_states_[i], i); diff --git a/example_5/description/urdf/rrbot_description.urdf.xacro b/example_5/description/urdf/rrbot_description.urdf.xacro index cfcb0388b..8ef1f053e 100644 --- a/example_5/description/urdf/rrbot_description.urdf.xacro +++ b/example_5/description/urdf/rrbot_description.urdf.xacro @@ -114,6 +114,16 @@ + + + + + + + + + + From 0b39d732801e3caa94a4cdbc0d1b3b98c175ce79 Mon Sep 17 00:00:00 2001 From: "mergify[bot]" <37929162+mergify[bot]@users.noreply.github.com> Date: Thu, 25 May 2023 13:51:51 +0200 Subject: [PATCH 05/36] Fix github links on control.ros.org (#284) (#288) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit (cherry picked from commit a4ffefd91cd0a51cd542a319db8ca25cc7c98090) Co-authored-by: Christoph Fröhlich --- doc/index.rst | 2 ++ example_1/doc/userdoc.rst | 2 ++ example_2/doc/userdoc.rst | 2 ++ example_3/doc/userdoc.rst | 2 ++ example_4/doc/userdoc.rst | 2 ++ example_5/doc/userdoc.rst | 2 ++ example_6/doc/userdoc.rst | 2 ++ example_8/doc/userdoc.rst | 2 ++ 8 files changed, 16 insertions(+) diff --git a/doc/index.rst b/doc/index.rst index 9a5f5fecb..1618e82ab 100644 --- a/doc/index.rst +++ b/doc/index.rst @@ -1,3 +1,5 @@ +:github_url: https://github.com/ros-controls/ros2_control_demos/blob/|github_branch|/doc/index.rst + .. _ros2_control_demos: ################# diff --git a/example_1/doc/userdoc.rst b/example_1/doc/userdoc.rst index 996cd4c63..1655e89c7 100644 --- a/example_1/doc/userdoc.rst +++ b/example_1/doc/userdoc.rst @@ -1,3 +1,5 @@ +:github_url: https://github.com/ros-controls/ros2_control_demos/blob/|github_branch|/example_1/doc/userdoc.rst + .. _ros2_control_demos_example_1_userdoc: Example 1: RRBot diff --git a/example_2/doc/userdoc.rst b/example_2/doc/userdoc.rst index 5007aac24..268a19362 100644 --- a/example_2/doc/userdoc.rst +++ b/example_2/doc/userdoc.rst @@ -1,3 +1,5 @@ +:github_url: https://github.com/ros-controls/ros2_control_demos/blob/|github_branch|/example_2/doc/userdoc.rst + .. _ros2_control_demos_example_2_userdoc: ********* diff --git a/example_3/doc/userdoc.rst b/example_3/doc/userdoc.rst index d2033cf04..ac2050266 100644 --- a/example_3/doc/userdoc.rst +++ b/example_3/doc/userdoc.rst @@ -1,3 +1,5 @@ +:github_url: https://github.com/ros-controls/ros2_control_demos/blob/|github_branch|/example_3/doc/userdoc.rst + .. _ros2_control_demos_example_3_userdoc: ************************************************ diff --git a/example_4/doc/userdoc.rst b/example_4/doc/userdoc.rst index 0494ca417..247037434 100644 --- a/example_4/doc/userdoc.rst +++ b/example_4/doc/userdoc.rst @@ -1,3 +1,5 @@ +:github_url: https://github.com/ros-controls/ros2_control_demos/blob/|github_branch|/example_4/doc/userdoc.rst + .. _ros2_control_demos_example_4_userdoc: *************************************************** diff --git a/example_5/doc/userdoc.rst b/example_5/doc/userdoc.rst index b7903873b..ac4051ff2 100644 --- a/example_5/doc/userdoc.rst +++ b/example_5/doc/userdoc.rst @@ -1,3 +1,5 @@ +:github_url: https://github.com/ros-controls/ros2_control_demos/blob/|github_branch|/example_5/doc/userdoc.rst + .. _ros2_control_demos_example_5_userdoc: ************************************************************* diff --git a/example_6/doc/userdoc.rst b/example_6/doc/userdoc.rst index 9ee6b5ca2..21e52f05a 100644 --- a/example_6/doc/userdoc.rst +++ b/example_6/doc/userdoc.rst @@ -1,3 +1,5 @@ +:github_url: https://github.com/ros-controls/ros2_control_demos/blob/|github_branch|/example_6/doc/userdoc.rst + .. _ros2_control_demos_example_6_userdoc: *********************************************************************** diff --git a/example_8/doc/userdoc.rst b/example_8/doc/userdoc.rst index 5a9510b0d..777bacc59 100644 --- a/example_8/doc/userdoc.rst +++ b/example_8/doc/userdoc.rst @@ -1,3 +1,5 @@ +:github_url: https://github.com/ros-controls/ros2_control_demos/blob/|github_branch|/example_8/doc/userdoc.rst + .. _ros2_control_demos_example_8_userdoc: ******************************************************************************** From 9c817ee7ca9ae6a686c9b2df1ecb5bf365f89dc2 Mon Sep 17 00:00:00 2001 From: "mergify[bot]" <37929162+mergify[bot]@users.noreply.github.com> Date: Thu, 25 May 2023 14:15:42 +0200 Subject: [PATCH 06/36] Use branch name substitution for all links (#286) (#289) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit (cherry picked from commit c1beb07027106b6a042c9114121acf52b9c2bcda) Co-authored-by: Christoph Fröhlich --- example_1/doc/userdoc.rst | 30 +++++++++++++++--------------- example_2/doc/userdoc.rst | 18 +++++++++--------- example_3/doc/userdoc.rst | 16 ++++++++-------- example_4/doc/userdoc.rst | 18 +++++++++--------- example_5/doc/userdoc.rst | 22 +++++++++++----------- example_6/doc/userdoc.rst | 16 ++++++++-------- example_8/doc/userdoc.rst | 18 +++++++++--------- 7 files changed, 69 insertions(+), 69 deletions(-) diff --git a/example_1/doc/userdoc.rst b/example_1/doc/userdoc.rst index 1655e89c7..e5d7d4d41 100644 --- a/example_1/doc/userdoc.rst +++ b/example_1/doc/userdoc.rst @@ -152,8 +152,8 @@ Tutorial steps .. note:: - The parameters are already set in `rrbot_controllers.yaml `__ - but the controller was not loaded from the `launch file rrbot.launch.py `__ before. + The parameters are already set in `rrbot_controllers.yaml `__ + but the controller was not loaded from the `launch file rrbot.launch.py `__ before. As an alternative, you can load the controller directly in ``inactive``-state by means of the option for ``load_controller`` @@ -210,29 +210,29 @@ Tutorial steps ros2 launch ros2_control_demo_example_1 test_joint_trajectory_controller.launch.py - You can adjust the goals in `rrbot_joint_trajectory_publisher `__. + You can adjust the goals in `rrbot_joint_trajectory_publisher `__. Files used for this demos ------------------------- -* Launch file: `rrbot.launch.py `__ -* Controllers yaml: `rrbot_controllers.yaml `__ -* URDF file: `rrbot.urdf.xacro `__ +* Launch file: `rrbot.launch.py `__ +* Controllers yaml: `rrbot_controllers.yaml `__ +* URDF file: `rrbot.urdf.xacro `__ - * Description: `rrbot_description.urdf.xacro `__ - * ``ros2_control`` tag: `rrbot.ros2_control.xacro `__ + * Description: `rrbot_description.urdf.xacro `__ + * ``ros2_control`` tag: `rrbot.ros2_control.xacro `__ -* RViz configuration: `rrbot.rviz `__ +* RViz configuration: `rrbot.rviz `__ * Test nodes goals configuration: - + `rrbot_forward_position_publisher `__ - + `rrbot_joint_trajectory_publisher `__ + + `rrbot_forward_position_publisher `__ + + `rrbot_joint_trajectory_publisher `__ -* Hardware interface plugin: `rrbot.cpp `__ +* Hardware interface plugin: `rrbot.cpp `__ Controllers from this demo -------------------------- - * ``Joint State Broadcaster`` (`ros2_controllers repository `__): `doc `__ - * ``Forward Command Controller`` (`ros2_controllers repository `__): `doc `__ - * ``Joint Trajectory Controller`` (`ros2_controllers repository `__): `doc `__ + * ``Joint State Broadcaster`` (`ros2_controllers repository `__): `doc `__ + * ``Forward Command Controller`` (`ros2_controllers repository `__): `doc `__ + * ``Joint Trajectory Controller`` (`ros2_controllers repository `__): `doc `__ diff --git a/example_2/doc/userdoc.rst b/example_2/doc/userdoc.rst index 268a19362..da4db563b 100644 --- a/example_2/doc/userdoc.rst +++ b/example_2/doc/userdoc.rst @@ -104,20 +104,20 @@ Tutorial steps Files used for this demos -------------------------- -* Launch file: `diffbot.launch.py `__ -* Controllers yaml: `diffbot_controllers.yaml `__ -* URDF file: `diffbot.urdf.xacro `__ +* Launch file: `diffbot.launch.py `__ +* Controllers yaml: `diffbot_controllers.yaml `__ +* URDF file: `diffbot.urdf.xacro `__ - * Description: `diffbot_description.urdf.xacro `__ - * ``ros2_control`` tag: `diffbot.ros2_control.xacro `__ + * Description: `diffbot_description.urdf.xacro `__ + * ``ros2_control`` tag: `diffbot.ros2_control.xacro `__ -* RViz configuration: `diffbot.rviz `__ +* RViz configuration: `diffbot.rviz `__ -* Hardware interface plugin: `diffbot_system.cpp `__ +* Hardware interface plugin: `diffbot_system.cpp `__ Controllers from this demo -------------------------- -* ``Joint State Broadcaster`` (`ros2_controllers repository `__): `doc `__ -* ``Diff Drive Controller`` (`ros2_controllers repository `__): `doc `__ +* ``Joint State Broadcaster`` (`ros2_controllers repository `__): `doc `__ +* ``Diff Drive Controller`` (`ros2_controllers repository `__): `doc `__ diff --git a/example_3/doc/userdoc.rst b/example_3/doc/userdoc.rst index ac2050266..d67d725e4 100644 --- a/example_3/doc/userdoc.rst +++ b/example_3/doc/userdoc.rst @@ -188,16 +188,16 @@ Tutorial steps Files used for this demos -------------------------- -* Launch file: `rrbot_system_multi_interface.launch.py `__ -* Controllers yaml: `rrbot_multi_interface_forward_controllers.yaml `__ -* URDF: `rrbot_system_multi_interface.urdf.xacro `__ +* Launch file: `rrbot_system_multi_interface.launch.py `__ +* Controllers yaml: `rrbot_multi_interface_forward_controllers.yaml `__ +* URDF: `rrbot_system_multi_interface.urdf.xacro `__ - * ``ros2_control`` URDF tag: `rrbot_system_multi_interface.ros2_control.xacro `__ + * ``ros2_control`` URDF tag: `rrbot_system_multi_interface.ros2_control.xacro `__ -* RViz configuration: `rrbot.rviz `__ -* Hardware interface plugin: `rrbot_system_multi_interface.cpp `__ +* RViz configuration: `rrbot.rviz `__ +* Hardware interface plugin: `rrbot_system_multi_interface.cpp `__ Controllers from this demo -------------------------- -* ``Joint State Broadcaster`` (`ros2_controllers repository `__): `doc `__ -* ``Forward Command Controller`` (`ros2_controllers repository `__): `doc `__ +* ``Joint State Broadcaster`` (`ros2_controllers repository `__): `doc `__ +* ``Forward Command Controller`` (`ros2_controllers repository `__): `doc `__ diff --git a/example_4/doc/userdoc.rst b/example_4/doc/userdoc.rst index 247037434..ff43a6b9a 100644 --- a/example_4/doc/userdoc.rst +++ b/example_4/doc/userdoc.rst @@ -134,18 +134,18 @@ Tutorial steps Files used for this demo -------------------------- -* Launch file: `rrbot_system_with_sensor.launch.py `__ -* Controllers yaml: `rrbot_with_sensor_controllers.yaml `__ -* URDF: `rrbot_system_with_sensor.urdf.xacro `__ +* Launch file: `rrbot_system_with_sensor.launch.py `__ +* Controllers yaml: `rrbot_with_sensor_controllers.yaml `__ +* URDF: `rrbot_system_with_sensor.urdf.xacro `__ - * ``ros2_control`` URDF tag: `rrbot_system_with_sensor.ros2_control.xacro `__ + * ``ros2_control`` URDF tag: `rrbot_system_with_sensor.ros2_control.xacro `__ -* RViz configuration: `rrbot.rviz `__ -* Hardware interface plugin: `rrbot_system_with_sensor.cpp `__ +* RViz configuration: `rrbot.rviz `__ +* Hardware interface plugin: `rrbot_system_with_sensor.cpp `__ Controllers from this demo -------------------------- -* ``Joint State Broadcaster`` (`ros2_controllers repository `__): `doc `__ -* ``Forward Command Controller`` (`ros2_controllers repository `__): `doc `__ -* ``Force Torque Sensor Broadcaster`` (`ros2_controllers repository `__): `doc `__ +* ``Joint State Broadcaster`` (`ros2_controllers repository `__): `doc `__ +* ``Forward Command Controller`` (`ros2_controllers repository `__): `doc `__ +* ``Force Torque Sensor Broadcaster`` (`ros2_controllers repository `__): `doc `__ diff --git a/example_5/doc/userdoc.rst b/example_5/doc/userdoc.rst index ac4051ff2..27fda51ef 100644 --- a/example_5/doc/userdoc.rst +++ b/example_5/doc/userdoc.rst @@ -138,21 +138,21 @@ Tutorial steps Files used for this demos -------------------------- -* Launch file: `rrbot_system_with_external_sensor.launch.py `__ -* Controllers yaml: `rrbot_with_external_sensor_controllers.yaml `__ -* URDF: `rrbot_with_external_sensor_controllers.urdf.xacro `__ +* Launch file: `rrbot_system_with_external_sensor.launch.py `__ +* Controllers yaml: `rrbot_with_external_sensor_controllers.yaml `__ +* URDF: `rrbot_with_external_sensor_controllers.urdf.xacro `__ - * ``ros2_control`` robot: `rrbot_system_position_only.ros2_control.xacro `__ - * ``ros2_control`` sensor: `external_rrbot_force_torque_sensor.ros2_control.xacro `__ + * ``ros2_control`` robot: `rrbot_system_position_only.ros2_control.xacro `__ + * ``ros2_control`` sensor: `external_rrbot_force_torque_sensor.ros2_control.xacro `__ -* RViz configuration: `rrbot.rviz `__ +* RViz configuration: `rrbot.rviz `__ * Hardware interface plugin: - * robot `rrbot.cpp `__ - * sensor `external_rrbot_force_torque_sensor.cpp `__ + * robot `rrbot.cpp `__ + * sensor `external_rrbot_force_torque_sensor.cpp `__ Controllers from this demo -------------------------- -* ``Joint State Broadcaster`` (`ros2_controllers repository `__): `doc `__ -* ``Forward Command Controller`` (`ros2_controllers repository `__): `doc `__ -* ``Force Torque Sensor Broadcaster`` (`ros2_controllers repository `__): `doc `__ +* ``Joint State Broadcaster`` (`ros2_controllers repository `__): `doc `__ +* ``Forward Command Controller`` (`ros2_controllers repository `__): `doc `__ +* ``Force Torque Sensor Broadcaster`` (`ros2_controllers repository `__): `doc `__ diff --git a/example_6/doc/userdoc.rst b/example_6/doc/userdoc.rst index 21e52f05a..dad184afd 100644 --- a/example_6/doc/userdoc.rst +++ b/example_6/doc/userdoc.rst @@ -103,17 +103,17 @@ Tutorial steps Files used for this demos -------------------------- -* Launch file: `rrbot_modular_actuators.launch.py `__ -* Controllers yaml: `rrbot_modular_actuators.yaml `__ -* URDF: `rrbot_modular_actuators.urdf.xacro `__ +* Launch file: `rrbot_modular_actuators.launch.py `__ +* Controllers yaml: `rrbot_modular_actuators.yaml `__ +* URDF: `rrbot_modular_actuators.urdf.xacro `__ - * ``ros2_control`` URDF tag: `rrbot_modular_actuators.ros2_control.xacro `__ + * ``ros2_control`` URDF tag: `rrbot_modular_actuators.ros2_control.xacro `__ -* RViz configuration: `rrbot.rviz `__ +* RViz configuration: `rrbot.rviz `__ -* Hardware interface plugin: `rrbot_actuator.cpp `__ +* Hardware interface plugin: `rrbot_actuator.cpp `__ Controllers from this demo -------------------------- -* ``Joint State Broadcaster`` (`ros2_controllers repository `__): `doc `__ -* ``Forward Command Controller`` (`ros2_controllers repository `__): `doc `__ +* ``Joint State Broadcaster`` (`ros2_controllers repository `__): `doc `__ +* ``Forward Command Controller`` (`ros2_controllers repository `__): `doc `__ diff --git a/example_8/doc/userdoc.rst b/example_8/doc/userdoc.rst index 777bacc59..0a98d926b 100644 --- a/example_8/doc/userdoc.rst +++ b/example_8/doc/userdoc.rst @@ -101,19 +101,19 @@ Tutorial steps Files used for this demos -------------------------- -* Launch file: `rrbot_transmissions_system_position_only.launch.py `__ -* Controllers yaml: `rrbot_controllers.yaml `__ -* URDF file: `rrbot_transmissions_system_position_only.urdf.xacro `__ +* Launch file: `rrbot_transmissions_system_position_only.launch.py `__ +* Controllers yaml: `rrbot_controllers.yaml `__ +* URDF file: `rrbot_transmissions_system_position_only.urdf.xacro `__ - * Description: `rrbot_description.urdf.xacro `__ - * ``ros2_control`` tag: `rrbot_transmissions_system_position_only.ros2_control.xacro `__ + * Description: `rrbot_description.urdf.xacro `__ + * ``ros2_control`` tag: `rrbot_transmissions_system_position_only.ros2_control.xacro `__ -* RViz configuration: `rrbot.rviz `__ +* RViz configuration: `rrbot.rviz `__ -* Hardware interface plugin: `rrbot_transmissions_system_position_only.cpp `__ +* Hardware interface plugin: `rrbot_transmissions_system_position_only.cpp `__ Controllers from this demo -------------------------- -* ``Joint State Broadcaster`` (`ros2_controllers repository `__): `doc `__ -* ``Forward Command Controller`` (`ros2_controllers repository `__): `doc `__ +* ``Joint State Broadcaster`` (`ros2_controllers repository `__): `doc `__ +* ``Forward Command Controller`` (`ros2_controllers repository `__): `doc `__ From 97f54bde02d815aeff82feafa80fc451a741ba93 Mon Sep 17 00:00:00 2001 From: "mergify[bot]" <37929162+mergify[bot]@users.noreply.github.com> Date: Sun, 28 May 2023 10:05:58 +0200 Subject: [PATCH 07/36] enable ReflowComments to also use ColumnLimit on comments (#290) (#291) (cherry picked from commit 296e2352dbe5e50cf0776d4fb1556d31b86ea0b1) Co-authored-by: Sai Kishor Kothakota --- .clang-format | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.clang-format b/.clang-format index 9c21e1e17..698bda7da 100644 --- a/.clang-format +++ b/.clang-format @@ -10,6 +10,6 @@ ConstructorInitializerIndentWidth: 0 ContinuationIndentWidth: 2 DerivePointerAlignment: false PointerAlignment: Middle -ReflowComments: false +ReflowComments: true IncludeBlocks: Preserve ... From 86de7b1b62132170435c820371c24943119b6cfa Mon Sep 17 00:00:00 2001 From: "mergify[bot]" <37929162+mergify[bot]@users.noreply.github.com> Date: Thu, 1 Jun 2023 23:15:25 +0200 Subject: [PATCH 08/36] Add ros2launch as dependency (#293) (#294) (cherry picked from commit eb604290a499071b0a20f8726a8d46bf185a878c) Co-authored-by: Reza Kermani --- example_1/package.xml | 1 + example_2/package.xml | 1 + example_3/package.xml | 1 + example_4/package.xml | 1 + example_5/package.xml | 1 + example_6/package.xml | 1 + example_8/package.xml | 1 + 7 files changed, 7 insertions(+) diff --git a/example_1/package.xml b/example_1/package.xml index eb7b3a328..47de9300a 100644 --- a/example_1/package.xml +++ b/example_1/package.xml @@ -20,6 +20,7 @@ rclcpp rclcpp_lifecycle + ros2launch ros2_controllers_test_nodes joint_state_broadcaster forward_command_controller diff --git a/example_2/package.xml b/example_2/package.xml index b98693d35..124b9fd6c 100644 --- a/example_2/package.xml +++ b/example_2/package.xml @@ -20,6 +20,7 @@ rclcpp rclcpp_lifecycle + ros2launch ros2_controllers_test_nodes joint_state_broadcaster diff_drive_controller diff --git a/example_3/package.xml b/example_3/package.xml index c10ab559c..d4044f171 100644 --- a/example_3/package.xml +++ b/example_3/package.xml @@ -18,6 +18,7 @@ rclcpp rclcpp_lifecycle + ros2launch ros2_controllers_test_nodes joint_state_broadcaster forward_command_controller diff --git a/example_4/package.xml b/example_4/package.xml index 09c06f51c..36c7350bc 100644 --- a/example_4/package.xml +++ b/example_4/package.xml @@ -18,6 +18,7 @@ rclcpp rclcpp_lifecycle + ros2launch ros2_controllers_test_nodes joint_state_broadcaster forward_command_controller diff --git a/example_5/package.xml b/example_5/package.xml index ffeda124f..ae449a716 100644 --- a/example_5/package.xml +++ b/example_5/package.xml @@ -18,6 +18,7 @@ rclcpp rclcpp_lifecycle + ros2launch ros2_controllers_test_nodes joint_state_broadcaster forward_command_controller diff --git a/example_6/package.xml b/example_6/package.xml index 86e5669d4..f036d4d72 100644 --- a/example_6/package.xml +++ b/example_6/package.xml @@ -18,6 +18,7 @@ rclcpp rclcpp_lifecycle + ros2launch ros2_controllers_test_nodes joint_state_broadcaster forward_command_controller diff --git a/example_8/package.xml b/example_8/package.xml index f722c42e0..9cd671f3b 100644 --- a/example_8/package.xml +++ b/example_8/package.xml @@ -21,6 +21,7 @@ rclcpp_lifecycle transmission_interface + ros2launch ros2_controllers_test_nodes joint_state_broadcaster forward_command_controller From 8297ec1fccc9135b324b0a0c44e09b5e51eeb1d9 Mon Sep 17 00:00:00 2001 From: "mergify[bot]" <37929162+mergify[bot]@users.noreply.github.com> Date: Fri, 2 Jun 2023 00:16:11 +0200 Subject: [PATCH 09/36] Add xacro as exec depend (#295) (#296) (cherry picked from commit 1c17ea25bfd24956f11fd122e67b90eea9ab5caa) Co-authored-by: Reza Kermani --- example_1/package.xml | 1 + example_2/package.xml | 1 + example_3/package.xml | 1 + example_4/package.xml | 1 + example_5/package.xml | 1 + example_6/package.xml | 1 + example_8/package.xml | 1 + 7 files changed, 7 insertions(+) diff --git a/example_1/package.xml b/example_1/package.xml index 47de9300a..dee9374f7 100644 --- a/example_1/package.xml +++ b/example_1/package.xml @@ -21,6 +21,7 @@ rclcpp_lifecycle ros2launch + xacro ros2_controllers_test_nodes joint_state_broadcaster forward_command_controller diff --git a/example_2/package.xml b/example_2/package.xml index 124b9fd6c..749c13459 100644 --- a/example_2/package.xml +++ b/example_2/package.xml @@ -21,6 +21,7 @@ rclcpp_lifecycle ros2launch + xacro ros2_controllers_test_nodes joint_state_broadcaster diff_drive_controller diff --git a/example_3/package.xml b/example_3/package.xml index d4044f171..d9166d861 100644 --- a/example_3/package.xml +++ b/example_3/package.xml @@ -19,6 +19,7 @@ rclcpp_lifecycle ros2launch + xacro ros2_controllers_test_nodes joint_state_broadcaster forward_command_controller diff --git a/example_4/package.xml b/example_4/package.xml index 36c7350bc..21c479f80 100644 --- a/example_4/package.xml +++ b/example_4/package.xml @@ -19,6 +19,7 @@ rclcpp_lifecycle ros2launch + xacro ros2_controllers_test_nodes joint_state_broadcaster forward_command_controller diff --git a/example_5/package.xml b/example_5/package.xml index ae449a716..7ac8d0f9a 100644 --- a/example_5/package.xml +++ b/example_5/package.xml @@ -19,6 +19,7 @@ rclcpp_lifecycle ros2launch + xacro ros2_controllers_test_nodes joint_state_broadcaster forward_command_controller diff --git a/example_6/package.xml b/example_6/package.xml index f036d4d72..185f3d639 100644 --- a/example_6/package.xml +++ b/example_6/package.xml @@ -19,6 +19,7 @@ rclcpp_lifecycle ros2launch + xacro ros2_controllers_test_nodes joint_state_broadcaster forward_command_controller diff --git a/example_8/package.xml b/example_8/package.xml index 9cd671f3b..a3c990f85 100644 --- a/example_8/package.xml +++ b/example_8/package.xml @@ -22,6 +22,7 @@ transmission_interface ros2launch + xacro ros2_controllers_test_nodes joint_state_broadcaster forward_command_controller From f893e837b613a235048c6117d8de024b1b39dcfe Mon Sep 17 00:00:00 2001 From: "mergify[bot]" <37929162+mergify[bot]@users.noreply.github.com> Date: Thu, 8 Jun 2023 22:56:52 +0200 Subject: [PATCH 10/36] Use {REPOS_FILE_BRANCH} also in github_url (#299) (#302) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit (cherry picked from commit 1a695481178e6ba115a325c30671db0945fcfdae) Co-authored-by: Christoph Fröhlich --- doc/index.rst | 2 +- example_1/doc/userdoc.rst | 2 +- example_2/doc/userdoc.rst | 2 +- example_3/doc/userdoc.rst | 2 +- example_4/doc/userdoc.rst | 2 +- example_5/doc/userdoc.rst | 2 +- example_6/doc/userdoc.rst | 2 +- example_8/doc/userdoc.rst | 2 +- 8 files changed, 8 insertions(+), 8 deletions(-) diff --git a/doc/index.rst b/doc/index.rst index 1618e82ab..51b0c0426 100644 --- a/doc/index.rst +++ b/doc/index.rst @@ -1,4 +1,4 @@ -:github_url: https://github.com/ros-controls/ros2_control_demos/blob/|github_branch|/doc/index.rst +:github_url: https://github.com/ros-controls/ros2_control_demos/blob/{REPOS_FILE_BRANCH}/doc/index.rst .. _ros2_control_demos: diff --git a/example_1/doc/userdoc.rst b/example_1/doc/userdoc.rst index e5d7d4d41..a3bb5e50e 100644 --- a/example_1/doc/userdoc.rst +++ b/example_1/doc/userdoc.rst @@ -1,4 +1,4 @@ -:github_url: https://github.com/ros-controls/ros2_control_demos/blob/|github_branch|/example_1/doc/userdoc.rst +:github_url: https://github.com/ros-controls/ros2_control_demos/blob/{REPOS_FILE_BRANCH}/example_1/doc/userdoc.rst .. _ros2_control_demos_example_1_userdoc: diff --git a/example_2/doc/userdoc.rst b/example_2/doc/userdoc.rst index da4db563b..56cd21b3f 100644 --- a/example_2/doc/userdoc.rst +++ b/example_2/doc/userdoc.rst @@ -1,4 +1,4 @@ -:github_url: https://github.com/ros-controls/ros2_control_demos/blob/|github_branch|/example_2/doc/userdoc.rst +:github_url: https://github.com/ros-controls/ros2_control_demos/blob/{REPOS_FILE_BRANCH}/example_2/doc/userdoc.rst .. _ros2_control_demos_example_2_userdoc: diff --git a/example_3/doc/userdoc.rst b/example_3/doc/userdoc.rst index d67d725e4..09c54362b 100644 --- a/example_3/doc/userdoc.rst +++ b/example_3/doc/userdoc.rst @@ -1,4 +1,4 @@ -:github_url: https://github.com/ros-controls/ros2_control_demos/blob/|github_branch|/example_3/doc/userdoc.rst +:github_url: https://github.com/ros-controls/ros2_control_demos/blob/{REPOS_FILE_BRANCH}/example_3/doc/userdoc.rst .. _ros2_control_demos_example_3_userdoc: diff --git a/example_4/doc/userdoc.rst b/example_4/doc/userdoc.rst index ff43a6b9a..1f9d72e47 100644 --- a/example_4/doc/userdoc.rst +++ b/example_4/doc/userdoc.rst @@ -1,4 +1,4 @@ -:github_url: https://github.com/ros-controls/ros2_control_demos/blob/|github_branch|/example_4/doc/userdoc.rst +:github_url: https://github.com/ros-controls/ros2_control_demos/blob/{REPOS_FILE_BRANCH}/example_4/doc/userdoc.rst .. _ros2_control_demos_example_4_userdoc: diff --git a/example_5/doc/userdoc.rst b/example_5/doc/userdoc.rst index 27fda51ef..24bed872a 100644 --- a/example_5/doc/userdoc.rst +++ b/example_5/doc/userdoc.rst @@ -1,4 +1,4 @@ -:github_url: https://github.com/ros-controls/ros2_control_demos/blob/|github_branch|/example_5/doc/userdoc.rst +:github_url: https://github.com/ros-controls/ros2_control_demos/blob/{REPOS_FILE_BRANCH}/example_5/doc/userdoc.rst .. _ros2_control_demos_example_5_userdoc: diff --git a/example_6/doc/userdoc.rst b/example_6/doc/userdoc.rst index dad184afd..eb68c85ac 100644 --- a/example_6/doc/userdoc.rst +++ b/example_6/doc/userdoc.rst @@ -1,4 +1,4 @@ -:github_url: https://github.com/ros-controls/ros2_control_demos/blob/|github_branch|/example_6/doc/userdoc.rst +:github_url: https://github.com/ros-controls/ros2_control_demos/blob/{REPOS_FILE_BRANCH}/example_6/doc/userdoc.rst .. _ros2_control_demos_example_6_userdoc: diff --git a/example_8/doc/userdoc.rst b/example_8/doc/userdoc.rst index 0a98d926b..1ee54668e 100644 --- a/example_8/doc/userdoc.rst +++ b/example_8/doc/userdoc.rst @@ -1,4 +1,4 @@ -:github_url: https://github.com/ros-controls/ros2_control_demos/blob/|github_branch|/example_8/doc/userdoc.rst +:github_url: https://github.com/ros-controls/ros2_control_demos/blob/{REPOS_FILE_BRANCH}/example_8/doc/userdoc.rst .. _ros2_control_demos_example_8_userdoc: From c4f1ec52b091318d990cbb91d47307a61d6d1dbb Mon Sep 17 00:00:00 2001 From: "mergify[bot]" <37929162+mergify[bot]@users.noreply.github.com> Date: Sun, 18 Jun 2023 21:36:39 +0200 Subject: [PATCH 11/36] Add gazebo classic example (backport #307) (#311) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Co-authored-by: Olivier Stasse Co-authored-by: Haider Lodhi Co-authored-by: Denis Štogl --- .github/workflows/ci-coverage-build.yml | 1 + .github/workflows/ci-ros-lint.yml | 2 + README.md | 4 +- doc/index.rst | 6 + example_9/CMakeLists.txt | 73 ++++++ example_9/README.md | 5 + .../bringup/config/rrbot_controllers.yaml | 16 ++ .../rrbot_forward_position_publisher.yaml | 11 + example_9/bringup/launch/rrbot.launch.py | 109 ++++++++ .../launch/rrbot_gazebo_classic.launch.py | 79 ++++++ ...test_forward_position_controller.launch.py | 41 +++ .../description/gazebo/rrbot.gazebo.xacro | 38 +++ .../description/launch/view_robot.launch.py | 99 ++++++++ .../ros2_control/rrbot.ros2_control.xacro | 37 +++ example_9/description/rviz/rrbot.rviz | 187 ++++++++++++++ .../description/urdf/rrbot.materials.xacro | 44 ++++ example_9/description/urdf/rrbot.urdf.xacro | 35 +++ .../urdf/rrbot_description.urdf.xacro | 119 +++++++++ example_9/doc/rrbot_gazebo_classic.png | Bin 0 -> 22688 bytes example_9/doc/userdoc.rst | 130 ++++++++++ .../ros2_control_demo_example_9/rrbot.hpp | 81 ++++++ .../visibility_control.h | 56 +++++ example_9/hardware/rrbot.cpp | 236 ++++++++++++++++++ example_9/package.xml | 42 ++++ example_9/ros2_control_demo_example_9.xml | 9 + ros2_control_demos.humble.repos | 4 + ros2_control_demos.rolling.repos | 4 + ros2_control_demos/package.xml | 1 + 28 files changed, 1468 insertions(+), 1 deletion(-) create mode 100644 example_9/CMakeLists.txt create mode 100644 example_9/README.md create mode 100644 example_9/bringup/config/rrbot_controllers.yaml create mode 100644 example_9/bringup/config/rrbot_forward_position_publisher.yaml create mode 100644 example_9/bringup/launch/rrbot.launch.py create mode 100644 example_9/bringup/launch/rrbot_gazebo_classic.launch.py create mode 100644 example_9/bringup/launch/test_forward_position_controller.launch.py create mode 100644 example_9/description/gazebo/rrbot.gazebo.xacro create mode 100644 example_9/description/launch/view_robot.launch.py create mode 100644 example_9/description/ros2_control/rrbot.ros2_control.xacro create mode 100644 example_9/description/rviz/rrbot.rviz create mode 100644 example_9/description/urdf/rrbot.materials.xacro create mode 100644 example_9/description/urdf/rrbot.urdf.xacro create mode 100644 example_9/description/urdf/rrbot_description.urdf.xacro create mode 100644 example_9/doc/rrbot_gazebo_classic.png create mode 100644 example_9/doc/userdoc.rst create mode 100644 example_9/hardware/include/ros2_control_demo_example_9/rrbot.hpp create mode 100644 example_9/hardware/include/ros2_control_demo_example_9/visibility_control.h create mode 100644 example_9/hardware/rrbot.cpp create mode 100644 example_9/package.xml create mode 100644 example_9/ros2_control_demo_example_9.xml diff --git a/.github/workflows/ci-coverage-build.yml b/.github/workflows/ci-coverage-build.yml index 37d176659..fb5cdec96 100644 --- a/.github/workflows/ci-coverage-build.yml +++ b/.github/workflows/ci-coverage-build.yml @@ -32,6 +32,7 @@ jobs: ros2_control_demo_example_5 ros2_control_demo_example_6 ros2_control_demo_example_8 + ros2_control_demo_example_9 vcs-repo-file-url: | https://raw.githubusercontent.com/${{ github.repository }}/${{ github.sha }}/ros2_control_demos-not-released.${{ env.ROS_DISTRO }}.repos?token=${{ secrets.GITHUB_TOKEN }} diff --git a/.github/workflows/ci-ros-lint.yml b/.github/workflows/ci-ros-lint.yml index e01247bad..0a6287b65 100644 --- a/.github/workflows/ci-ros-lint.yml +++ b/.github/workflows/ci-ros-lint.yml @@ -25,6 +25,7 @@ jobs: ros2_control_demo_example_5 ros2_control_demo_example_6 ros2_control_demo_example_8 + ros2_control_demo_example_9 ament_lint_100: name: ament_${{ matrix.linter }} @@ -49,3 +50,4 @@ jobs: ros2_control_demo_example_5 ros2_control_demo_example_6 ros2_control_demo_example_8 + ros2_control_demo_example_9 diff --git a/README.md b/README.md index 9e8e817cb..1b757f2e8 100644 --- a/README.md +++ b/README.md @@ -46,7 +46,9 @@ The following examples are part of this demo repository: *RRBot* with an exposed transmission interface. -* Example 9: "Gazebo Classic and Gazebo Sim (tba.)" +* Example 9: ["Gazebo Classic Simulation"](example_10) + + Demonstrates how to switch between simulation and hardware. ## Getting started diff --git a/doc/index.rst b/doc/index.rst index 51b0c0426..42d794409 100644 --- a/doc/index.rst +++ b/doc/index.rst @@ -58,6 +58,7 @@ Example 4: "Industrial robot with integrated sensor" Example 5: "Industrial Robots with externally connected sensor" *RRBot* with an externally connected sensor. + Example 6: "Modular Robots with separate communication to each actuator" The example shows how to implement robot hardware with separate communication to each actuator. @@ -65,6 +66,10 @@ Example 6: "Modular Robots with separate communication to each actuator" Example 8: "Using transmissions" *RRBot* with an exposed transmission interface. + +Example 9: "Gazebo Classic" + Demonstrates how to switch between simulation and hardware. + ===================== Quick Hints ===================== @@ -96,3 +101,4 @@ Examples Example 5: Industrial Robots with externally connected sensor <../example_5/doc/userdoc.rst> Example 6: Modular Robots with separate communication to each actuator <../example_6/doc/userdoc.rst> Example 8: Using transmissions <../example_8/doc/userdoc.rst> + Example 9: Gazebo Classic <../example_9/doc/userdoc.rst> diff --git a/example_9/CMakeLists.txt b/example_9/CMakeLists.txt new file mode 100644 index 000000000..2b8780f5a --- /dev/null +++ b/example_9/CMakeLists.txt @@ -0,0 +1,73 @@ +cmake_minimum_required(VERSION 3.16) +project(ros2_control_demo_example_9 LANGUAGES CXX) + +if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)") + add_compile_options(-Wall -Wextra) +endif() + +# find dependencies +set(THIS_PACKAGE_INCLUDE_DEPENDS + hardware_interface + pluginlib + rclcpp + rclcpp_lifecycle +) + +# find dependencies +find_package(ament_cmake REQUIRED) +foreach(Dependency IN ITEMS ${THIS_PACKAGE_INCLUDE_DEPENDS}) + find_package(${Dependency} REQUIRED) +endforeach() + + +## COMPILE +add_library( + ros2_control_demo_example_9 + SHARED + hardware/rrbot.cpp +) +target_compile_features(ros2_control_demo_example_9 PUBLIC cxx_std_17) +target_include_directories(ros2_control_demo_example_9 PUBLIC +$ +$ +) +ament_target_dependencies( + ros2_control_demo_example_9 PUBLIC + ${THIS_PACKAGE_INCLUDE_DEPENDS} +) + +# Causes the visibility macros to use dllexport rather than dllimport, +# which is appropriate when building the dll but not consuming it. +target_compile_definitions(${PROJECT_NAME} PRIVATE "ROS2_CONTROL_DEMO_EXAMPLE_9_BUILDING_DLL") + +# Export hardware plugins +pluginlib_export_plugin_description_file(hardware_interface ros2_control_demo_example_9.xml) + +# INSTALL +install( + DIRECTORY hardware/include/ + DESTINATION include/ros2_control_demo_example_9 +) +install( + DIRECTORY description/launch description/ros2_control description/urdf description/gazebo description/rviz + DESTINATION share/ros2_control_demo_example_9 +) +install( + DIRECTORY bringup/launch bringup/config + DESTINATION share/ros2_control_demo_example_9 +) +install(TARGETS ros2_control_demo_example_9 + EXPORT export_ros2_control_demo_example_9 + ARCHIVE DESTINATION lib + LIBRARY DESTINATION lib + RUNTIME DESTINATION bin +) + +if(BUILD_TESTING) + find_package(ament_cmake_gtest REQUIRED) +endif() + +## EXPORTS +ament_export_targets(export_ros2_control_demo_example_9 HAS_LIBRARY_TARGET) +ament_export_dependencies(${THIS_PACKAGE_INCLUDE_DEPENDS}) +ament_package() diff --git a/example_9/README.md b/example_9/README.md new file mode 100644 index 000000000..aef87a7ee --- /dev/null +++ b/example_9/README.md @@ -0,0 +1,5 @@ +# ros2_control_demo_example_9 + + This example demonstrates the switching between simulation and real hardware by means of the *RRBot* - or ''Revolute-Revolute Manipulator Robot''. + +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_9/doc/userdoc.html). diff --git a/example_9/bringup/config/rrbot_controllers.yaml b/example_9/bringup/config/rrbot_controllers.yaml new file mode 100644 index 000000000..383757513 --- /dev/null +++ b/example_9/bringup/config/rrbot_controllers.yaml @@ -0,0 +1,16 @@ +controller_manager: + ros__parameters: + update_rate: 10 # Hz + + joint_state_broadcaster: + type: joint_state_broadcaster/JointStateBroadcaster + + forward_position_controller: + type: forward_command_controller/ForwardCommandController + +forward_position_controller: + ros__parameters: + joints: + - joint1 + - joint2 + interface_name: position diff --git a/example_9/bringup/config/rrbot_forward_position_publisher.yaml b/example_9/bringup/config/rrbot_forward_position_publisher.yaml new file mode 100644 index 000000000..d0fd6330a --- /dev/null +++ b/example_9/bringup/config/rrbot_forward_position_publisher.yaml @@ -0,0 +1,11 @@ +publisher_forward_position_controller: + ros__parameters: + + wait_sec_between_publish: 5 + publish_topic: "/forward_position_controller/commands" + + goal_names: ["pos1", "pos2", "pos3", "pos4"] + pos1: [0.785, 0.785] + pos2: [0, 0] + pos3: [-0.785, -0.785] + pos4: [0, 0] diff --git a/example_9/bringup/launch/rrbot.launch.py b/example_9/bringup/launch/rrbot.launch.py new file mode 100644 index 000000000..bf70947c6 --- /dev/null +++ b/example_9/bringup/launch/rrbot.launch.py @@ -0,0 +1,109 @@ +# Copyright 2021 Stogl Robotics Consulting UG (haftungsbeschränkt) +# +# 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 RegisterEventHandler +from launch.event_handlers import OnProcessExit +from launch.substitutions import Command, FindExecutable, PathJoinSubstitution + +from launch_ros.actions import Node +from launch_ros.substitutions import FindPackageShare + + +def generate_launch_description(): + # Get URDF via xacro + robot_description_content = Command( + [ + PathJoinSubstitution([FindExecutable(name="xacro")]), + " ", + PathJoinSubstitution( + [ + FindPackageShare("ros2_control_demo_example_9"), + "urdf", + "rrbot.urdf.xacro", + ] + ), + ] + ) + robot_description = {"robot_description": robot_description_content} + + robot_controllers = PathJoinSubstitution( + [ + FindPackageShare("ros2_control_demo_example_9"), + "config", + "rrbot_controllers.yaml", + ] + ) + rviz_config_file = PathJoinSubstitution( + [FindPackageShare("ros2_control_demo_example_9"), "rviz", "rrbot.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], + ) + rviz_node = Node( + package="rviz2", + executable="rviz2", + name="rviz2", + output="log", + arguments=["-d", rviz_config_file], + ) + + 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=["forward_position_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(nodes) diff --git a/example_9/bringup/launch/rrbot_gazebo_classic.launch.py b/example_9/bringup/launch/rrbot_gazebo_classic.launch.py new file mode 100644 index 000000000..dd18a3e5f --- /dev/null +++ b/example_9/bringup/launch/rrbot_gazebo_classic.launch.py @@ -0,0 +1,79 @@ +# Copyright 2021 Open Source Robotics Foundation, Inc. +# +# 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 IncludeLaunchDescription +from launch.launch_description_sources import PythonLaunchDescriptionSource +from launch.substitutions import Command, FindExecutable, PathJoinSubstitution +from launch_ros.actions import Node +from launch_ros.substitutions import FindPackageShare + + +def generate_launch_description(): + gazebo = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + [PathJoinSubstitution([FindPackageShare("gazebo_ros"), "launch", "gazebo.launch.py"])] + ), + launch_arguments={"verbose": "false"}.items(), + ) + + # Get URDF via xacro + robot_description_content = Command( + [ + PathJoinSubstitution([FindExecutable(name="xacro")]), + " ", + PathJoinSubstitution( + [FindPackageShare("ros2_control_demo_example_9"), "urdf", "rrbot.urdf.xacro"] + ), + " ", + "use_gazebo_classic:=true", + ] + ) + robot_description = {"robot_description": robot_description_content} + + node_robot_state_publisher = Node( + package="robot_state_publisher", + executable="robot_state_publisher", + output="screen", + parameters=[robot_description], + ) + + spawn_entity = Node( + package="gazebo_ros", + executable="spawn_entity.py", + arguments=["-topic", "robot_description", "-entity", "rrbot_system_position"], + output="screen", + ) + + 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=["forward_position_controller", "--controller-manager", "/controller_manager"], + ) + + return LaunchDescription( + [ + gazebo, + node_robot_state_publisher, + spawn_entity, + joint_state_broadcaster_spawner, + robot_controller_spawner, + ] + ) diff --git a/example_9/bringup/launch/test_forward_position_controller.launch.py b/example_9/bringup/launch/test_forward_position_controller.launch.py new file mode 100644 index 000000000..5cbc7ca68 --- /dev/null +++ b/example_9/bringup/launch/test_forward_position_controller.launch.py @@ -0,0 +1,41 @@ +# Copyright 2021 Stogl Robotics Consulting UG (haftungsbeschränkt) +# +# 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.substitutions import PathJoinSubstitution +from launch_ros.actions import Node +from launch_ros.substitutions import FindPackageShare + + +def generate_launch_description(): + + position_goals = PathJoinSubstitution( + [ + FindPackageShare("ros2_control_demo_example_9"), + "config", + "rrbot_forward_position_publisher.yaml", + ] + ) + + return LaunchDescription( + [ + Node( + package="ros2_controllers_test_nodes", + executable="publisher_forward_position_controller", + name="publisher_forward_position_controller", + parameters=[position_goals], + output="both", + ) + ] + ) diff --git a/example_9/description/gazebo/rrbot.gazebo.xacro b/example_9/description/gazebo/rrbot.gazebo.xacro new file mode 100644 index 000000000..1de74bcc8 --- /dev/null +++ b/example_9/description/gazebo/rrbot.gazebo.xacro @@ -0,0 +1,38 @@ + + + + + + + + + + $(find ros2_control_demo_example_9)/config/rrbot_controllers.yaml + + + + + + Gazebo/Orange + + + + + 0.2 + 0.2 + Gazebo/Yellow + + + + + 0.2 + 0.2 + Gazebo/Orange + + + + + diff --git a/example_9/description/launch/view_robot.launch.py b/example_9/description/launch/view_robot.launch.py new file mode 100644 index 000000000..14cd2edab --- /dev/null +++ b/example_9/description/launch/view_robot.launch.py @@ -0,0 +1,99 @@ +# Copyright 2021 Stogl Robotics Consulting UG (haftungsbeschränkt) +# +# 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 +from launch.substitutions import Command, FindExecutable, LaunchConfiguration, PathJoinSubstitution + +from launch_ros.actions import Node +from launch_ros.substitutions import FindPackageShare + + +def generate_launch_description(): + # Declare arguments + declared_arguments = [] + declared_arguments.append( + DeclareLaunchArgument( + "description_package", + default_value="ros2_control_demo_example_9", + description="Description package with robot URDF/xacro files. Usually the argument \ + is not set, it enables use of a custom description.", + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "description_file", + default_value="rrbot.urdf.xacro", + description="URDF/XACRO description file with the robot.", + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "prefix", + default_value='""', + description="Prefix of the joint names, useful for \ + multi-robot setup. If changed than also joint names in the controllers' configuration \ + have to be updated.", + ) + ) + + # Initialize Arguments + description_package = LaunchConfiguration("description_package") + description_file = LaunchConfiguration("description_file") + prefix = LaunchConfiguration("prefix") + + # Get URDF via xacro + robot_description_content = Command( + [ + PathJoinSubstitution([FindExecutable(name="xacro")]), + " ", + PathJoinSubstitution( + [FindPackageShare(description_package), "urdf", description_file] + ), + " ", + "prefix:=", + prefix, + ] + ) + robot_description = {"robot_description": robot_description_content} + + rviz_config_file = PathJoinSubstitution( + [FindPackageShare(description_package), "rviz", "rrbot.rviz"] + ) + + joint_state_publisher_node = Node( + package="joint_state_publisher_gui", + executable="joint_state_publisher_gui", + ) + robot_state_publisher_node = Node( + package="robot_state_publisher", + executable="robot_state_publisher", + output="both", + parameters=[robot_description], + ) + rviz_node = Node( + package="rviz2", + executable="rviz2", + name="rviz2", + output="log", + arguments=["-d", rviz_config_file], + ) + + nodes = [ + joint_state_publisher_node, + robot_state_publisher_node, + rviz_node, + ] + + return LaunchDescription(declared_arguments + nodes) diff --git a/example_9/description/ros2_control/rrbot.ros2_control.xacro b/example_9/description/ros2_control/rrbot.ros2_control.xacro new file mode 100644 index 000000000..0d57bf036 --- /dev/null +++ b/example_9/description/ros2_control/rrbot.ros2_control.xacro @@ -0,0 +1,37 @@ + + + + + + + + + gazebo_ros2_control/GazeboSystem + + + ros2_control_demo_example_9/RRBotSystemPositionOnlyHardware + 0 + 3.0 + 100 + + + + + + -1 + 1 + + + + + + -1 + 1 + + + + + + + + diff --git a/example_9/description/rviz/rrbot.rviz b/example_9/description/rviz/rrbot.rviz new file mode 100644 index 000000000..8e78cd635 --- /dev/null +++ b/example_9/description/rviz/rrbot.rviz @@ -0,0 +1,187 @@ +Panels: + - Class: rviz_common/Displays + Help Height: 87 + Name: Displays + Property Tree Widget: + Expanded: ~ + Splitter Ratio: 0.5 + Tree Height: 1096 + - Class: rviz_common/Selection + Name: Selection + - Class: rviz_common/Tool Properties + Expanded: + - /2D Goal Pose1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.5886790156364441 + - Class: rviz_common/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz_default_plugins/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.029999999329447746 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Alpha: 1 + Class: rviz_default_plugins/RobotModel + Collision Enabled: false + Description File: "" + Description Source: Topic + Description Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /robot_description + Enabled: true + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + camera_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + camera_link_optical: + Alpha: 1 + Show Axes: false + Show Trail: false + hokuyo_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + tool_link: + Alpha: 1 + Show Axes: false + Show Trail: false + world: + Alpha: 1 + Show Axes: false + Show Trail: false + Mass Properties: + Inertia: false + Mass: false + Name: RobotModel + TF Prefix: "" + Update Interval: 0 + Value: true + Visual Enabled: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Fixed Frame: base_link + Frame Rate: 30 + Name: root + Tools: + - Class: rviz_default_plugins/Interact + Hide Inactive Objects: true + - Class: rviz_default_plugins/MoveCamera + - Class: rviz_default_plugins/Select + - Class: rviz_default_plugins/FocusCamera + - Class: rviz_default_plugins/Measure + Line color: 128; 128; 0 + - Class: rviz_default_plugins/SetInitialPose + Covariance x: 0.25 + Covariance y: 0.25 + Covariance yaw: 0.06853891909122467 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /initialpose + - Class: rviz_default_plugins/SetGoal + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /goal_pose + - Class: rviz_default_plugins/PublishPoint + Single click: true + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /clicked_point + Transformation: + Current: + Class: rviz_default_plugins/TF + Value: true + Views: + Current: + Class: rviz_default_plugins/Orbit + Distance: 8.443930625915527 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0.0044944556429982185 + Y: 1.0785865783691406 + Z: 2.4839563369750977 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 0.23039916157722473 + Target Frame: + Value: Orbit (rviz) + Yaw: 5.150422096252441 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 1379 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 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+ Selection: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 2560 + X: 0 + Y: 1470 diff --git a/example_9/description/urdf/rrbot.materials.xacro b/example_9/description/urdf/rrbot.materials.xacro new file mode 100644 index 000000000..eb8e0212c --- /dev/null +++ b/example_9/description/urdf/rrbot.materials.xacro @@ -0,0 +1,44 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/example_9/description/urdf/rrbot.urdf.xacro b/example_9/description/urdf/rrbot.urdf.xacro new file mode 100644 index 000000000..4f18345ca --- /dev/null +++ b/example_9/description/urdf/rrbot.urdf.xacro @@ -0,0 +1,35 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/example_9/description/urdf/rrbot_description.urdf.xacro b/example_9/description/urdf/rrbot_description.urdf.xacro new file mode 100644 index 000000000..cfcb0388b --- /dev/null +++ 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More specifically, +Gazebo Classic is used for this purpose. For details on the ``gazebo_ros2_control`` plugin, see :ref:`gazebo_ros2_control`. + +Tutorial steps +-------------------------- + +1. To check that *RRBot* descriptions are working properly use following launch commands + + .. code-block:: shell + + ros2 launch ros2_control_demo_example_9 view_robot.launch.py + + The ``joint_state_publisher_gui`` provides a GUI to change the configuration for *RRbot*. It is immediately displayed in *RViz*. + + +2. To start *RRBot* with the hardware interface instead of the simulators, open a terminal, source your ROS2-workspace and execute its launch file with + + .. code-block:: shell + + ros2 launch ros2_control_demo_example_9 rrbot.launch.py + + It uses an identical hardware interface as already discussed with *example_1*, see its docs on details on the hardware interface. + +3. To start *RRBot* in the simulators, open a terminal, source your ROS2-workspace and Gazebo Classic installation first, i.e., by + + .. code-block:: shell + + source /usr/share/gazebo/setup.sh + + Then, execute the launch file with + + .. code-block:: shell + + ros2 launch ros2_control_demo_example_9 rrbot_gazebo_classic.launch.py + + The launch file loads the robot description, starts Gazebo Classic, *Joint State Broadcaster* and *Forward Command Controller*. + If you can see two orange and one yellow "box" in Gazebo Classic everything has started properly. + + .. image:: rrbot_gazebo_classic.png + :width: 400 + :alt: Revolute-Revolute Manipulator Robot in Gazebo Classic + +4. Check if the hardware interface loaded properly, by opening another terminal and executing + + .. code-block:: shell + + ros2 control list_hardware_interfaces + + .. code-block:: shell + + command interfaces + joint1/position [available] [claimed] + joint2/position [available] [claimed] + state interfaces + joint1/position + joint2/position + + Marker ``[claimed]`` by command interfaces means that a controller has access to command *RRBot*. + +5. Check if controllers are running by + + .. code-block:: shell + + ros2 control list_controllers + + .. code-block:: shell + + joint_state_broadcaster[joint_state_broadcaster/JointStateBroadcaster] active + forward_position_controller[forward_command_controller/ForwardCommandController] active + +6. If you get output from above you can send commands to *Forward Command Controller*, either: + + a. Manually using ROS 2 CLI interface: + + .. code-block:: shell + + ros2 topic pub /forward_position_controller/commands std_msgs/msg/Float64MultiArray "data: + - 0.5 + - 0.5" + + B. Or you can start a demo node which sends two goals every 5 seconds in a loop + + .. code-block:: shell + + ros2 launch ros2_control_demo_example_9 test_forward_position_controller.launch.py + + You should now see the robot moving in Gazebo Classic. + + If you echo the ``/joint_states`` or ``/dynamic_joint_states`` topics you should see the changing values, + namely the simulated states of the robot + + .. code-block:: shell + + ros2 topic echo /joint_states + ros2 topic echo /dynamic_joint_states + + +Files used for this demos +------------------------- + +- Launch files: + + + Hardware: `rrbot.launch.py `__ + + Gazebo Classic: `rrbot_gazebo_classic.launch.py `__ + +- Controllers yaml: `rrbot_controllers.yaml `__ +- URDF file: `rrbot.urdf.xacro `__ + + + Description: `rrbot_description.urdf.xacro `__ + + ``ros2_control`` tag: `rrbot.ros2_control.xacro `__ + +- RViz configuration: `rrbot.rviz `__ +- Test nodes goals configuration: + + + `rrbot_forward_position_publisher `__ + +- Hardware interface plugin: `rrbot.cpp `__ + + +Controllers from this demo +-------------------------- +- ``Joint State Broadcaster`` (`ros2_controllers repository `__): `doc `__ +- ``Forward Command Controller`` (`ros2_controllers repository `__): `doc `__ diff --git a/example_9/hardware/include/ros2_control_demo_example_9/rrbot.hpp b/example_9/hardware/include/ros2_control_demo_example_9/rrbot.hpp new file mode 100644 index 000000000..4262966e9 --- /dev/null +++ b/example_9/hardware/include/ros2_control_demo_example_9/rrbot.hpp @@ -0,0 +1,81 @@ +// Copyright 2023 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. + +#ifndef ROS2_CONTROL_DEMO_EXAMPLE_9__RRBOT_HPP_ +#define ROS2_CONTROL_DEMO_EXAMPLE_9__RRBOT_HPP_ + +#include +#include +#include + +#include "hardware_interface/handle.hpp" +#include "hardware_interface/hardware_info.hpp" +#include "hardware_interface/system_interface.hpp" +#include "hardware_interface/types/hardware_interface_return_values.hpp" +#include "rclcpp/macros.hpp" +#include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp" +#include "rclcpp_lifecycle/state.hpp" +#include "ros2_control_demo_example_9/visibility_control.h" + +namespace ros2_control_demo_example_9 +{ +class RRBotSystemPositionOnlyHardware : public hardware_interface::SystemInterface +{ +public: + RCLCPP_SHARED_PTR_DEFINITIONS(RRBotSystemPositionOnlyHardware); + + ROS2_CONTROL_DEMO_EXAMPLE_9_PUBLIC + hardware_interface::CallbackReturn on_init( + const hardware_interface::HardwareInfo & info) override; + + ROS2_CONTROL_DEMO_EXAMPLE_9_PUBLIC + hardware_interface::CallbackReturn on_configure( + const rclcpp_lifecycle::State & previous_state) override; + + ROS2_CONTROL_DEMO_EXAMPLE_9_PUBLIC + std::vector export_state_interfaces() override; + + ROS2_CONTROL_DEMO_EXAMPLE_9_PUBLIC + std::vector export_command_interfaces() override; + + ROS2_CONTROL_DEMO_EXAMPLE_9_PUBLIC + hardware_interface::CallbackReturn on_activate( + const rclcpp_lifecycle::State & previous_state) override; + + ROS2_CONTROL_DEMO_EXAMPLE_9_PUBLIC + hardware_interface::CallbackReturn on_deactivate( + const rclcpp_lifecycle::State & previous_state) override; + + ROS2_CONTROL_DEMO_EXAMPLE_9_PUBLIC + hardware_interface::return_type read( + const rclcpp::Time & time, const rclcpp::Duration & period) override; + + ROS2_CONTROL_DEMO_EXAMPLE_9_PUBLIC + hardware_interface::return_type write( + const rclcpp::Time & time, const rclcpp::Duration & period) override; + +private: + // Parameters for the RRBot simulation + double hw_start_sec_; + double hw_stop_sec_; + double hw_slowdown_; + + // Store the command for the simulated robot + std::vector hw_commands_; + std::vector hw_states_; +}; + +} // namespace ros2_control_demo_example_9 + +#endif // ROS2_CONTROL_DEMO_EXAMPLE_9__RRBOT_HPP_ diff --git a/example_9/hardware/include/ros2_control_demo_example_9/visibility_control.h b/example_9/hardware/include/ros2_control_demo_example_9/visibility_control.h new file mode 100644 index 000000000..897f95c6b --- /dev/null +++ b/example_9/hardware/include/ros2_control_demo_example_9/visibility_control.h @@ -0,0 +1,56 @@ +// Copyright 2021 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. + +/* This header must be included by all rclcpp headers which declare symbols + * which are defined in the rclcpp library. When not building the rclcpp + * library, i.e. when using the headers in other package's code, the contents + * of this header change the visibility of certain symbols which the rclcpp + * library cannot have, but the consuming code must have inorder to link. + */ + +#ifndef ROS2_CONTROL_DEMO_EXAMPLE_9__VISIBILITY_CONTROL_H_ +#define ROS2_CONTROL_DEMO_EXAMPLE_9__VISIBILITY_CONTROL_H_ + +// This logic was borrowed (then namespaced) from the examples on the gcc wiki: +// https://gcc.gnu.org/wiki/Visibility + +#if defined _WIN32 || defined __CYGWIN__ +#ifdef __GNUC__ +#define ROS2_CONTROL_DEMO_EXAMPLE_9_EXPORT __attribute__((dllexport)) +#define ROS2_CONTROL_DEMO_EXAMPLE_9_IMPORT __attribute__((dllimport)) +#else +#define ROS2_CONTROL_DEMO_EXAMPLE_9_EXPORT __declspec(dllexport) +#define ROS2_CONTROL_DEMO_EXAMPLE_9_IMPORT __declspec(dllimport) +#endif +#ifdef ROS2_CONTROL_DEMO_EXAMPLE_9_BUILDING_DLL +#define ROS2_CONTROL_DEMO_EXAMPLE_9_PUBLIC ROS2_CONTROL_DEMO_EXAMPLE_9_EXPORT +#else +#define ROS2_CONTROL_DEMO_EXAMPLE_9_PUBLIC ROS2_CONTROL_DEMO_EXAMPLE_9_IMPORT +#endif +#define ROS2_CONTROL_DEMO_EXAMPLE_9_PUBLIC_TYPE ROS2_CONTROL_DEMO_EXAMPLE_9_PUBLIC +#define ROS2_CONTROL_DEMO_EXAMPLE_9_LOCAL +#else +#define ROS2_CONTROL_DEMO_EXAMPLE_9_EXPORT __attribute__((visibility("default"))) +#define ROS2_CONTROL_DEMO_EXAMPLE_9_IMPORT +#if __GNUC__ >= 4 +#define ROS2_CONTROL_DEMO_EXAMPLE_9_PUBLIC __attribute__((visibility("default"))) +#define ROS2_CONTROL_DEMO_EXAMPLE_9_LOCAL __attribute__((visibility("hidden"))) +#else +#define ROS2_CONTROL_DEMO_EXAMPLE_9_PUBLIC +#define ROS2_CONTROL_DEMO_EXAMPLE_9_LOCAL +#endif +#define ROS2_CONTROL_DEMO_EXAMPLE_9_PUBLIC_TYPE +#endif + +#endif // ROS2_CONTROL_DEMO_EXAMPLE_9__VISIBILITY_CONTROL_H_ diff --git a/example_9/hardware/rrbot.cpp b/example_9/hardware/rrbot.cpp new file mode 100644 index 000000000..90b9be9f3 --- /dev/null +++ b/example_9/hardware/rrbot.cpp @@ -0,0 +1,236 @@ +// Copyright 2023 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. + +#include "ros2_control_demo_example_9/rrbot.hpp" + +#include +#include +#include +#include +#include + +#include "hardware_interface/types/hardware_interface_type_values.hpp" +#include "rclcpp/rclcpp.hpp" + +namespace ros2_control_demo_example_9 +{ +hardware_interface::CallbackReturn RRBotSystemPositionOnlyHardware::on_init( + const hardware_interface::HardwareInfo & info) +{ + if ( + hardware_interface::SystemInterface::on_init(info) != + hardware_interface::CallbackReturn::SUCCESS) + { + return hardware_interface::CallbackReturn::ERROR; + } + + // BEGIN: This part here is for exemplary purposes - Please do not copy to your production code + hw_start_sec_ = stod(info_.hardware_parameters["example_param_hw_start_duration_sec"]); + hw_stop_sec_ = stod(info_.hardware_parameters["example_param_hw_stop_duration_sec"]); + hw_slowdown_ = stod(info_.hardware_parameters["example_param_hw_slowdown"]); + // END: This part here is for exemplary purposes - Please do not copy to your production code + hw_states_.resize(info_.joints.size(), std::numeric_limits::quiet_NaN()); + hw_commands_.resize(info_.joints.size(), std::numeric_limits::quiet_NaN()); + + for (const hardware_interface::ComponentInfo & joint : info_.joints) + { + // RRBotSystemPositionOnly has exactly one state and command interface on each joint + if (joint.command_interfaces.size() != 1) + { + RCLCPP_FATAL( + rclcpp::get_logger("RRBotSystemPositionOnlyHardware"), + "Joint '%s' has %zu command interfaces found. 1 expected.", joint.name.c_str(), + joint.command_interfaces.size()); + return hardware_interface::CallbackReturn::ERROR; + } + + if (joint.command_interfaces[0].name != hardware_interface::HW_IF_POSITION) + { + RCLCPP_FATAL( + rclcpp::get_logger("RRBotSystemPositionOnlyHardware"), + "Joint '%s' have %s command interfaces found. '%s' expected.", joint.name.c_str(), + joint.command_interfaces[0].name.c_str(), hardware_interface::HW_IF_POSITION); + return hardware_interface::CallbackReturn::ERROR; + } + + if (joint.state_interfaces.size() != 1) + { + RCLCPP_FATAL( + rclcpp::get_logger("RRBotSystemPositionOnlyHardware"), + "Joint '%s' has %zu state interface. 1 expected.", joint.name.c_str(), + joint.state_interfaces.size()); + return hardware_interface::CallbackReturn::ERROR; + } + + if (joint.state_interfaces[0].name != hardware_interface::HW_IF_POSITION) + { + RCLCPP_FATAL( + rclcpp::get_logger("RRBotSystemPositionOnlyHardware"), + "Joint '%s' have %s state interface. '%s' expected.", joint.name.c_str(), + joint.state_interfaces[0].name.c_str(), hardware_interface::HW_IF_POSITION); + return hardware_interface::CallbackReturn::ERROR; + } + } + + return hardware_interface::CallbackReturn::SUCCESS; +} + +hardware_interface::CallbackReturn RRBotSystemPositionOnlyHardware::on_configure( + const rclcpp_lifecycle::State & /*previous_state*/) +{ + // BEGIN: This part here is for exemplary purposes - Please do not copy to your production code + RCLCPP_INFO( + rclcpp::get_logger("RRBotSystemPositionOnlyHardware"), "Configuring ...please wait..."); + + for (int i = 0; i < hw_start_sec_; i++) + { + rclcpp::sleep_for(std::chrono::seconds(1)); + RCLCPP_INFO( + rclcpp::get_logger("RRBotSystemPositionOnlyHardware"), "%.1f seconds left...", + hw_start_sec_ - i); + } + // END: This part here is for exemplary purposes - Please do not copy to your production code + + // reset values always when configuring hardware + for (uint i = 0; i < hw_states_.size(); i++) + { + hw_states_[i] = 0; + hw_commands_[i] = 0; + } + + RCLCPP_INFO(rclcpp::get_logger("RRBotSystemPositionOnlyHardware"), "Successfully configured!"); + + return hardware_interface::CallbackReturn::SUCCESS; +} + +std::vector +RRBotSystemPositionOnlyHardware::export_state_interfaces() +{ + std::vector state_interfaces; + for (uint i = 0; i < info_.joints.size(); i++) + { + state_interfaces.emplace_back(hardware_interface::StateInterface( + info_.joints[i].name, hardware_interface::HW_IF_POSITION, &hw_states_[i])); + } + + return state_interfaces; +} + +std::vector +RRBotSystemPositionOnlyHardware::export_command_interfaces() +{ + std::vector command_interfaces; + for (uint i = 0; i < info_.joints.size(); i++) + { + command_interfaces.emplace_back(hardware_interface::CommandInterface( + info_.joints[i].name, hardware_interface::HW_IF_POSITION, &hw_commands_[i])); + } + + return command_interfaces; +} + +hardware_interface::CallbackReturn RRBotSystemPositionOnlyHardware::on_activate( + const rclcpp_lifecycle::State & /*previous_state*/) +{ + // BEGIN: This part here is for exemplary purposes - Please do not copy to your production code + RCLCPP_INFO( + rclcpp::get_logger("RRBotSystemPositionOnlyHardware"), "Activating ...please wait..."); + + for (int i = 0; i < hw_start_sec_; i++) + { + rclcpp::sleep_for(std::chrono::seconds(1)); + RCLCPP_INFO( + rclcpp::get_logger("RRBotSystemPositionOnlyHardware"), "%.1f seconds left...", + hw_start_sec_ - i); + } + // END: This part here is for exemplary purposes - Please do not copy to your production code + + // command and state should be equal when starting + for (uint i = 0; i < hw_states_.size(); i++) + { + hw_commands_[i] = hw_states_[i]; + } + + RCLCPP_INFO(rclcpp::get_logger("RRBotSystemPositionOnlyHardware"), "Successfully activated!"); + + return hardware_interface::CallbackReturn::SUCCESS; +} + +hardware_interface::CallbackReturn RRBotSystemPositionOnlyHardware::on_deactivate( + const rclcpp_lifecycle::State & /*previous_state*/) +{ + // BEGIN: This part here is for exemplary purposes - Please do not copy to your production code + RCLCPP_INFO( + rclcpp::get_logger("RRBotSystemPositionOnlyHardware"), "Deactivating ...please wait..."); + + for (int i = 0; i < hw_stop_sec_; i++) + { + rclcpp::sleep_for(std::chrono::seconds(1)); + RCLCPP_INFO( + rclcpp::get_logger("RRBotSystemPositionOnlyHardware"), "%.1f seconds left...", + hw_stop_sec_ - i); + } + + RCLCPP_INFO(rclcpp::get_logger("RRBotSystemPositionOnlyHardware"), "Successfully deactivated!"); + // END: This part here is for exemplary purposes - Please do not copy to your production code + + return hardware_interface::CallbackReturn::SUCCESS; +} + +hardware_interface::return_type RRBotSystemPositionOnlyHardware::read( + const rclcpp::Time & /*time*/, const rclcpp::Duration & /*period*/) +{ + // BEGIN: This part here is for exemplary purposes - Please do not copy to your production code + RCLCPP_INFO(rclcpp::get_logger("RRBotSystemPositionOnlyHardware"), "Reading..."); + + for (uint i = 0; i < hw_states_.size(); i++) + { + // Simulate RRBot's movement + hw_states_[i] = hw_states_[i] + (hw_commands_[i] - hw_states_[i]) / hw_slowdown_; + RCLCPP_INFO( + rclcpp::get_logger("RRBotSystemPositionOnlyHardware"), "Got state %.5f for joint %d!", + hw_states_[i], i); + } + RCLCPP_INFO(rclcpp::get_logger("RRBotSystemPositionOnlyHardware"), "Joints successfully read!"); + // END: This part here is for exemplary purposes - Please do not copy to your production code + + return hardware_interface::return_type::OK; +} + +hardware_interface::return_type RRBotSystemPositionOnlyHardware::write( + const rclcpp::Time & /*time*/, const rclcpp::Duration & /*period*/) +{ + // BEGIN: This part here is for exemplary purposes - Please do not copy to your production code + RCLCPP_INFO(rclcpp::get_logger("RRBotSystemPositionOnlyHardware"), "Writing..."); + + for (uint i = 0; i < hw_commands_.size(); i++) + { + // Simulate sending commands to the hardware + RCLCPP_INFO( + rclcpp::get_logger("RRBotSystemPositionOnlyHardware"), "Got command %.5f for joint %d!", + hw_commands_[i], i); + } + RCLCPP_INFO( + rclcpp::get_logger("RRBotSystemPositionOnlyHardware"), "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; +} + +} // namespace ros2_control_demo_example_9 + +#include "pluginlib/class_list_macros.hpp" + +PLUGINLIB_EXPORT_CLASS( + ros2_control_demo_example_9::RRBotSystemPositionOnlyHardware, hardware_interface::SystemInterface) diff --git a/example_9/package.xml b/example_9/package.xml new file mode 100644 index 000000000..de98b11a4 --- /dev/null +++ b/example_9/package.xml @@ -0,0 +1,42 @@ + + + + ros2_control_demo_example_9 + 0.0.0 + Demo package of `ros2_control` simulation with RRbot. + + Dr.-Ing. Denis Štogl + Bence Magyar + Christoph Froehlich + + Dr.-Ing. Denis Štogl + Christoph Froehlich + + Apache-2.0 + + ament_cmake + + hardware_interface + pluginlib + rclcpp + rclcpp_lifecycle + + controller_manager + forward_command_controller + gazebo_ros + gazebo_ros2_control + joint_state_broadcaster + joint_state_publisher_gui + joint_trajectory_controller + robot_state_publisher + ros2_controllers_test_nodes + ros2controlcli + rviz2 + xacro + + ament_cmake_gtest + + + ament_cmake + + diff --git a/example_9/ros2_control_demo_example_9.xml b/example_9/ros2_control_demo_example_9.xml new file mode 100644 index 000000000..1c7cc8a49 --- /dev/null +++ b/example_9/ros2_control_demo_example_9.xml @@ -0,0 +1,9 @@ + + + + The ros2_control RRbot example using a system hardware interface-type. + + + diff --git a/ros2_control_demos.humble.repos b/ros2_control_demos.humble.repos index e7fb6e544..235d4ba4b 100644 --- a/ros2_control_demos.humble.repos +++ b/ros2_control_demos.humble.repos @@ -15,3 +15,7 @@ repositories: type: git url: https://github.com/ros-controls/ros2_controllers.git version: humble + gazebo_ros2_control: + type: git + url: https://github.com/ros-controls/gazebo_ros2_control.git + version: humble diff --git a/ros2_control_demos.rolling.repos b/ros2_control_demos.rolling.repos index 71b24798c..4b0771038 100644 --- a/ros2_control_demos.rolling.repos +++ b/ros2_control_demos.rolling.repos @@ -15,3 +15,7 @@ repositories: type: git url: https://github.com/ros-controls/ros2_controllers.git version: master + gazebo_ros2_control: + type: git + url: https://github.com/ros-controls/gazebo_ros2_control.git + version: master diff --git a/ros2_control_demos/package.xml b/ros2_control_demos/package.xml index 67990da66..f5fbf4a9a 100644 --- a/ros2_control_demos/package.xml +++ b/ros2_control_demos/package.xml @@ -21,6 +21,7 @@ ros2_control_demo_example_5 ros2_control_demo_example_6 ros2_control_demo_example_8 + ros2_control_demo_example_9 ament_cmake From aa0e1307185b59cda940bc9082d911b71553310c Mon Sep 17 00:00:00 2001 From: "mergify[bot]" <37929162+mergify[bot]@users.noreply.github.com> Date: Tue, 20 Jun 2023 23:55:34 +0200 Subject: [PATCH 12/36] Readme: fix url of example 9 (#313) (#314) (cherry picked from commit a1ab06c52bdc840f70f93b99be76c1e3b2b6b775) Co-authored-by: Reza Kermani --- README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/README.md b/README.md index 1b757f2e8..e61594994 100644 --- a/README.md +++ b/README.md @@ -46,7 +46,7 @@ The following examples are part of this demo repository: *RRBot* with an exposed transmission interface. -* Example 9: ["Gazebo Classic Simulation"](example_10) +* Example 9: ["Gazebo Classic Simulation"](example_9) Demonstrates how to switch between simulation and hardware. From 7bb5a051594485e612648fe094991a5ff80e75d4 Mon Sep 17 00:00:00 2001 From: "mergify[bot]" <37929162+mergify[bot]@users.noreply.github.com> Date: Wed, 28 Jun 2023 20:29:43 +0200 Subject: [PATCH 13/36] added docker (backport #298) (#319) * [Docker] Add docker setup file and docs how to use base example with it (#298) Co-authored-by: Christoph Froehlich Co-authored-by: Alex Moriarty Co-authored-by: Dr. Denis (cherry picked from commit a7dd59a004d174d6221f633315aeaeb7ae8581ba) * Use humble instead of rolling --------- Co-authored-by: Reza Kermani Co-authored-by: Christoph Froehlich --- Dockerfile/Dockerfile | 25 ++++++++++++++++++++ Dockerfile/entrypoint.sh | 5 ++++ README.md | 27 ++++++++++++++++++++++ example_1/bringup/launch/rrbot.launch.py | 21 ++++++++++++++--- example_2/bringup/launch/diffbot.launch.py | 21 ++++++++++++++--- 5 files changed, 93 insertions(+), 6 deletions(-) create mode 100644 Dockerfile/Dockerfile create mode 100755 Dockerfile/entrypoint.sh diff --git a/Dockerfile/Dockerfile b/Dockerfile/Dockerfile new file mode 100644 index 000000000..e40883cb5 --- /dev/null +++ b/Dockerfile/Dockerfile @@ -0,0 +1,25 @@ +ARG ROS_DISTRO=humble + +FROM ros:${ROS_DISTRO}-ros-base + +ENV DEBIAN_FRONTEND noninteractive + +RUN apt-get update \ + && apt-get upgrade -y + +COPY . /home/ros2_ws/src/ros2_control_demos + +RUN cd /home/ros2_ws/src \ + && vcs import < ros2_control_demos/ros2_control_demos.${ROS_DISTRO}.repos \ + && apt-get update \ + && rosdep update \ + && rosdep install --from-paths ./ -i -y --rosdistro ${ROS_DISTRO} + +RUN cd /home/ros2_ws/ \ + && . /opt/ros/${ROS_DISTRO}/setup.sh \ + && colcon build --merge-install + +COPY Dockerfile/entrypoint.sh /entrypoint.sh +ENTRYPOINT ["/entrypoint.sh"] + +CMD ros2 launch ros2_control_demo_example_2 diffbot.launch.py start_rviz:=false diff --git a/Dockerfile/entrypoint.sh b/Dockerfile/entrypoint.sh new file mode 100755 index 000000000..8516e83a7 --- /dev/null +++ b/Dockerfile/entrypoint.sh @@ -0,0 +1,5 @@ +#!/bin/sh + +. /opt/ros/"${ROS_DISTRO}"/setup.sh +. /home/ros2_ws/install/setup.sh +exec "$@" diff --git a/README.md b/README.md index e61594994..0498731d5 100644 --- a/README.md +++ b/README.md @@ -78,6 +78,33 @@ The important files to check in each example are: The concepts in this package are demonstrated on the examples of *RRBot* and *DiffBot*. Those two world-known imaginary robots are trivial simulations to demonstrate and test `ros2_control` concepts. +## Usage +### Using Docker +**Building your own** + +```bash +mkdir -p ~/ros2_ws/src +cd ~/ros2_ws/src +git clone https://github.com/ros-controls/ros2_control_demos +cd ros2_control_demos +docker build . -t ros2_control_demos -f Dockerfile/Dockerfile +``` + +**To run the demo** + +Docker allows us to run the demo without the GUI if configured properly. The following command runs the demo without the GUI: +```bash +docker run -it --rm ros2_control_demos +``` + +Then on your local machine, you can run rviz with the config file specified: + +```bash +cd ~/ros2_ws +source /opt/ros/rolling/setup.sh +rviz2 -d src/ros2_control_demos/example_2/description/rviz/diffbot.rviz +``` + ## Build status diff --git a/example_1/bringup/launch/rrbot.launch.py b/example_1/bringup/launch/rrbot.launch.py index 0cc19a686..7323474df 100644 --- a/example_1/bringup/launch/rrbot.launch.py +++ b/example_1/bringup/launch/rrbot.launch.py @@ -14,15 +14,29 @@ from launch import LaunchDescription -from launch.actions import RegisterEventHandler +from launch.actions import DeclareLaunchArgument, RegisterEventHandler +from launch.conditions import IfCondition from launch.event_handlers import OnProcessExit -from launch.substitutions import Command, FindExecutable, PathJoinSubstitution +from launch.substitutions import Command, FindExecutable, LaunchConfiguration, PathJoinSubstitution from launch_ros.actions import Node from launch_ros.substitutions import FindPackageShare def generate_launch_description(): + # Declare arguments + declared_arguments = [] + declared_arguments.append( + DeclareLaunchArgument( + "start_rviz", + default_value="true", + description="Start RViz2 automatically with this launch file.", + ) + ) + + # Initialize Arguments + start_rviz = LaunchConfiguration("start_rviz") + # Get URDF via xacro robot_description_content = Command( [ @@ -68,6 +82,7 @@ def generate_launch_description(): name="rviz2", output="log", arguments=["-d", rviz_config_file], + condition=IfCondition(start_rviz), ) joint_state_broadcaster_spawner = Node( @@ -106,4 +121,4 @@ def generate_launch_description(): delay_robot_controller_spawner_after_joint_state_broadcaster_spawner, ] - return LaunchDescription(nodes) + return LaunchDescription(declared_arguments + nodes) diff --git a/example_2/bringup/launch/diffbot.launch.py b/example_2/bringup/launch/diffbot.launch.py index 1275217ba..c9cba5f10 100644 --- a/example_2/bringup/launch/diffbot.launch.py +++ b/example_2/bringup/launch/diffbot.launch.py @@ -13,15 +13,29 @@ # limitations under the License. from launch import LaunchDescription -from launch.actions import RegisterEventHandler +from launch.actions import DeclareLaunchArgument, RegisterEventHandler +from launch.conditions import IfCondition from launch.event_handlers import OnProcessExit -from launch.substitutions import Command, FindExecutable, PathJoinSubstitution +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( + "start_rviz", + default_value="true", + description="Start RViz2 automatically with this launch file.", + ) + ) + + # Initialize Arguments + start_rviz = LaunchConfiguration("start_rviz") + # Get URDF via xacro robot_description_content = Command( [ @@ -66,6 +80,7 @@ def generate_launch_description(): name="rviz2", output="log", arguments=["-d", rviz_config_file], + condition=IfCondition(start_rviz), ) joint_state_broadcaster_spawner = Node( @@ -104,4 +119,4 @@ def generate_launch_description(): delay_robot_controller_spawner_after_joint_state_broadcaster_spawner, ] - return LaunchDescription(nodes) + return LaunchDescription(declared_arguments + nodes) From ec9e565d3cb1237ee59a85ef59eea4dfd6415c67 Mon Sep 17 00:00:00 2001 From: "mergify[bot]" <37929162+mergify[bot]@users.noreply.github.com> Date: Wed, 28 Jun 2023 20:34:06 +0200 Subject: [PATCH 14/36] Remove rrbot_base.launch.py from example folders (#268) (#320) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit * Example 3: remove rrbot_base launch file * Example 4: remove rrbot_base launch file * Example 5: remove rrbot_base launch file * Example 6: remove rrbot_base launch file * Example 8: remove rrbot_base launch file (cherry picked from commit fa1c2e4d27a8fd274966bbf3217052e1d51df72e) Co-authored-by: Christoph Fröhlich --- example_3/bringup/launch/rrbot_base.launch.py | 205 ------------------ .../rrbot_system_multi_interface.launch.py | 144 ++++++++++-- example_4/bringup/launch/rrbot_base.launch.py | 205 ------------------ .../launch/rrbot_system_with_sensor.launch.py | 135 ++++++++++-- example_5/bringup/launch/rrbot_base.launch.py | 205 ------------------ ...rbot_system_with_external_sensor.launch.py | 136 +++++++++--- .../config/rrbot_modular_actuators.yaml | 2 +- example_6/bringup/launch/rrbot_base.launch.py | 205 ------------------ .../launch/rrbot_modular_actuators.launch.py | 149 +++++++++++-- example_8/bringup/launch/rrbot_base.launch.py | 205 ------------------ ...ansmissions_system_position_only.launch.py | 109 ++++++++-- 11 files changed, 578 insertions(+), 1122 deletions(-) delete mode 100644 example_3/bringup/launch/rrbot_base.launch.py delete mode 100644 example_4/bringup/launch/rrbot_base.launch.py mode change 100755 => 100644 example_4/bringup/launch/rrbot_system_with_sensor.launch.py delete mode 100644 example_5/bringup/launch/rrbot_base.launch.py delete mode 100644 example_6/bringup/launch/rrbot_base.launch.py delete mode 100644 example_8/bringup/launch/rrbot_base.launch.py diff --git a/example_3/bringup/launch/rrbot_base.launch.py b/example_3/bringup/launch/rrbot_base.launch.py deleted file mode 100644 index 671443fd5..000000000 --- a/example_3/bringup/launch/rrbot_base.launch.py +++ /dev/null @@ -1,205 +0,0 @@ -# Copyright 2021 Stogl Robotics Consulting UG (haftungsbeschränkt) -# -# 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, LaunchConfiguration, PathJoinSubstitution - -from launch_ros.actions import Node -from launch_ros.substitutions import FindPackageShare - - -def generate_launch_description(): - # Declare arguments - declared_arguments = [] - declared_arguments.append( - DeclareLaunchArgument( - "runtime_config_package", - default_value="ros2_control_demo_example_3", - description='Package with the controller\'s configuration in "config" folder. \ - Usually the argument is not set, it enables use of a custom setup.', - ) - ) - declared_arguments.append( - DeclareLaunchArgument( - "controllers_file", - default_value="rrbot_controllers.yaml", - description="YAML file with the controllers configuration.", - ) - ) - declared_arguments.append( - DeclareLaunchArgument( - "description_package", - default_value="ros2_control_demo_example_3", - description="Description package with robot URDF/xacro files. Usually the argument \ - is not set, it enables use of a custom description.", - ) - ) - declared_arguments.append( - DeclareLaunchArgument( - "description_file", - description="URDF/XACRO description file with the robot.", - ) - ) - declared_arguments.append( - DeclareLaunchArgument( - "prefix", - default_value='""', - description="Prefix of the joint names, useful for \ - multi-robot setup. If changed than also joint names in the controllers' configuration \ - have to be updated.", - ) - ) - declared_arguments.append( - DeclareLaunchArgument( - "use_mock_hardware", - default_value="true", - description="Start robot with mock hardware mirroring command to its states.", - ) - ) - declared_arguments.append( - DeclareLaunchArgument( - "mock_sensor_commands", - default_value="false", - description="Enable fake command interfaces for sensors used for simple simulations. \ - Used only if 'use_mock_hardware' parameter is true.", - ) - ) - declared_arguments.append( - DeclareLaunchArgument( - "slowdown", default_value="3.0", description="Slowdown factor of the RRbot." - ) - ) - declared_arguments.append( - DeclareLaunchArgument( - "robot_controller", - default_value="forward_position_controller", - description="Robot controller to start.", - ) - ) - declared_arguments.append( - DeclareLaunchArgument( - "start_rviz", - default_value="true", - description="Start RViz2 automatically with this launch file.", - ) - ) - - # Initialize Arguments - runtime_config_package = LaunchConfiguration("runtime_config_package") - controllers_file = LaunchConfiguration("controllers_file") - description_package = LaunchConfiguration("description_package") - description_file = LaunchConfiguration("description_file") - prefix = LaunchConfiguration("prefix") - use_mock_hardware = LaunchConfiguration("use_mock_hardware") - mock_sensor_commands = LaunchConfiguration("mock_sensor_commands") - slowdown = LaunchConfiguration("slowdown") - robot_controller = LaunchConfiguration("robot_controller") - start_rviz = LaunchConfiguration("start_rviz") - - # Get URDF via xacro - robot_description_content = Command( - [ - PathJoinSubstitution([FindExecutable(name="xacro")]), - " ", - PathJoinSubstitution( - [FindPackageShare(description_package), "urdf", description_file] - ), - " ", - "prefix:=", - prefix, - " ", - "use_mock_hardware:=", - use_mock_hardware, - " ", - "mock_sensor_commands:=", - mock_sensor_commands, - " ", - "slowdown:=", - slowdown, - ] - ) - robot_description = {"robot_description": robot_description_content} - - robot_controllers = PathJoinSubstitution( - [ - FindPackageShare(runtime_config_package), - "config", - controllers_file, - ] - ) - rviz_config_file = PathJoinSubstitution( - [FindPackageShare(description_package), "rviz", "rrbot.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], - ) - rviz_node = Node( - package="rviz2", - executable="rviz2", - name="rviz2", - output="log", - arguments=["-d", rviz_config_file], - condition=IfCondition(start_rviz), - ) - - 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=[robot_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) diff --git a/example_3/bringup/launch/rrbot_system_multi_interface.launch.py b/example_3/bringup/launch/rrbot_system_multi_interface.launch.py index 670d87030..4ae3d116d 100644 --- a/example_3/bringup/launch/rrbot_system_multi_interface.launch.py +++ b/example_3/bringup/launch/rrbot_system_multi_interface.launch.py @@ -1,4 +1,4 @@ -# Copyright 2021 Department of Engineering Cybernetics, NTNU. +# Copyright 2021 Stogl Robotics Consulting UG (haftungsbeschränkt) # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. @@ -13,9 +13,13 @@ # limitations under the License. from launch import LaunchDescription -from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription -from launch.launch_description_sources import PythonLaunchDescriptionSource -from launch.substitutions import LaunchConfiguration, ThisLaunchFileDir +from launch.actions import DeclareLaunchArgument, RegisterEventHandler +from launch.conditions import IfCondition +from launch.event_handlers import OnProcessExit +from launch.substitutions import Command, FindExecutable, LaunchConfiguration, PathJoinSubstitution + +from launch_ros.actions import Node +from launch_ros.substitutions import FindPackageShare def generate_launch_description(): @@ -30,6 +34,21 @@ def generate_launch_description(): have to be updated.", ) ) + declared_arguments.append( + DeclareLaunchArgument( + "use_mock_hardware", + default_value="false", + description="Start robot with mock hardware mirroring command to its states.", + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "mock_sensor_commands", + default_value="false", + description="Enable fake command interfaces for sensors used for simple simulations. \ + Used only if 'use_mock_hardware' parameter is true.", + ) + ) declared_arguments.append( DeclareLaunchArgument( "slowdown", default_value="50.0", description="Slowdown factor of the RRbot." @@ -42,23 +61,116 @@ def generate_launch_description(): description="Robot controller to start.", ) ) + declared_arguments.append( + DeclareLaunchArgument( + "start_rviz", + default_value="true", + description="Start RViz2 automatically with this launch file.", + ) + ) # Initialize Arguments prefix = LaunchConfiguration("prefix") + use_mock_hardware = LaunchConfiguration("use_mock_hardware") + mock_sensor_commands = LaunchConfiguration("mock_sensor_commands") slowdown = LaunchConfiguration("slowdown") robot_controller = LaunchConfiguration("robot_controller") + start_rviz = LaunchConfiguration("start_rviz") + + # Get URDF via xacro + robot_description_content = Command( + [ + PathJoinSubstitution([FindExecutable(name="xacro")]), + " ", + PathJoinSubstitution( + [ + FindPackageShare("ros2_control_demo_example_3"), + "urdf", + "rrbot_system_multi_interface.urdf.xacro", + ] + ), + " ", + "prefix:=", + prefix, + " ", + "use_mock_hardware:=", + use_mock_hardware, + " ", + "mock_sensor_commands:=", + mock_sensor_commands, + " ", + "slowdown:=", + slowdown, + ] + ) + robot_description = {"robot_description": robot_description_content} - base_launch = IncludeLaunchDescription( - PythonLaunchDescriptionSource([ThisLaunchFileDir(), "/rrbot_base.launch.py"]), - launch_arguments={ - "controllers_file": "rrbot_multi_interface_forward_controllers.yaml", - "description_file": "rrbot_system_multi_interface.urdf.xacro", - "prefix": prefix, - "use_mock_hardware": "false", - "mock_sensor_commands": "false", - "slowdown": slowdown, - "robot_controller": robot_controller, - }.items(), + robot_controllers = PathJoinSubstitution( + [ + FindPackageShare("ros2_control_demo_example_3"), + "config", + "rrbot_multi_interface_forward_controllers.yaml", + ] + ) + rviz_config_file = PathJoinSubstitution( + [FindPackageShare("ros2_control_demo_example_3"), "rviz", "rrbot.rviz"] ) - return LaunchDescription(declared_arguments + [base_launch]) + 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], + ) + rviz_node = Node( + package="rviz2", + executable="rviz2", + name="rviz2", + output="log", + arguments=["-d", rviz_config_file], + condition=IfCondition(start_rviz), + ) + + 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=[robot_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) diff --git a/example_4/bringup/launch/rrbot_base.launch.py b/example_4/bringup/launch/rrbot_base.launch.py deleted file mode 100644 index cf6c6d258..000000000 --- a/example_4/bringup/launch/rrbot_base.launch.py +++ /dev/null @@ -1,205 +0,0 @@ -# Copyright 2021 Stogl Robotics Consulting UG (haftungsbeschränkt) -# -# 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, LaunchConfiguration, PathJoinSubstitution - -from launch_ros.actions import Node -from launch_ros.substitutions import FindPackageShare - - -def generate_launch_description(): - # Declare arguments - declared_arguments = [] - declared_arguments.append( - DeclareLaunchArgument( - "runtime_config_package", - default_value="ros2_control_demo_example_4", - description='Package with the controller\'s configuration in "config" folder. \ - Usually the argument is not set, it enables use of a custom setup.', - ) - ) - declared_arguments.append( - DeclareLaunchArgument( - "controllers_file", - default_value="rrbot_controllers.yaml", - description="YAML file with the controllers configuration.", - ) - ) - declared_arguments.append( - DeclareLaunchArgument( - "description_package", - default_value="ros2_control_demo_example_4", - description="Description package with robot URDF/xacro files. Usually the argument \ - is not set, it enables use of a custom description.", - ) - ) - declared_arguments.append( - DeclareLaunchArgument( - "description_file", - description="URDF/XACRO description file with the robot.", - ) - ) - declared_arguments.append( - DeclareLaunchArgument( - "prefix", - default_value='""', - description="Prefix of the joint names, useful for \ - multi-robot setup. If changed than also joint names in the controllers' configuration \ - have to be updated.", - ) - ) - declared_arguments.append( - DeclareLaunchArgument( - "use_mock_hardware", - default_value="true", - description="Start robot with mock hardware mirroring command to its states.", - ) - ) - declared_arguments.append( - DeclareLaunchArgument( - "mock_sensor_commands", - default_value="false", - description="Enable fake command interfaces for sensors used for simple simulations. \ - Used only if 'use_mock_hardware' parameter is true.", - ) - ) - declared_arguments.append( - DeclareLaunchArgument( - "slowdown", default_value="3.0", description="Slowdown factor of the RRbot." - ) - ) - declared_arguments.append( - DeclareLaunchArgument( - "robot_controller", - default_value="forward_position_controller", - description="Robot controller to start.", - ) - ) - declared_arguments.append( - DeclareLaunchArgument( - "start_rviz", - default_value="true", - description="Start RViz2 automatically with this launch file.", - ) - ) - - # Initialize Arguments - runtime_config_package = LaunchConfiguration("runtime_config_package") - controllers_file = LaunchConfiguration("controllers_file") - description_package = LaunchConfiguration("description_package") - description_file = LaunchConfiguration("description_file") - prefix = LaunchConfiguration("prefix") - use_mock_hardware = LaunchConfiguration("use_mock_hardware") - mock_sensor_commands = LaunchConfiguration("mock_sensor_commands") - slowdown = LaunchConfiguration("slowdown") - robot_controller = LaunchConfiguration("robot_controller") - start_rviz = LaunchConfiguration("start_rviz") - - # Get URDF via xacro - robot_description_content = Command( - [ - PathJoinSubstitution([FindExecutable(name="xacro")]), - " ", - PathJoinSubstitution( - [FindPackageShare(description_package), "urdf", description_file] - ), - " ", - "prefix:=", - prefix, - " ", - "use_mock_hardware:=", - use_mock_hardware, - " ", - "mock_sensor_commands:=", - mock_sensor_commands, - " ", - "slowdown:=", - slowdown, - ] - ) - robot_description = {"robot_description": robot_description_content} - - robot_controllers = PathJoinSubstitution( - [ - FindPackageShare(runtime_config_package), - "config", - controllers_file, - ] - ) - rviz_config_file = PathJoinSubstitution( - [FindPackageShare(description_package), "rviz", "rrbot.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], - ) - rviz_node = Node( - package="rviz2", - executable="rviz2", - name="rviz2", - output="log", - arguments=["-d", rviz_config_file], - condition=IfCondition(start_rviz), - ) - - 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=[robot_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) diff --git a/example_4/bringup/launch/rrbot_system_with_sensor.launch.py b/example_4/bringup/launch/rrbot_system_with_sensor.launch.py old mode 100755 new mode 100644 index b4d587463..80db70574 --- a/example_4/bringup/launch/rrbot_system_with_sensor.launch.py +++ b/example_4/bringup/launch/rrbot_system_with_sensor.launch.py @@ -1,4 +1,4 @@ -# Copyright (c) 2021, Stogl Robotics Consulting UG (haftungsbeschränkt) +# Copyright 2021 Stogl Robotics Consulting UG (haftungsbeschränkt) # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. @@ -11,15 +11,15 @@ # 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. -# -# -# Authors: Subhas Das, Denis Stogl from launch import LaunchDescription -from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription -from launch.launch_description_sources import PythonLaunchDescriptionSource +from launch.actions import DeclareLaunchArgument, RegisterEventHandler +from launch.conditions import IfCondition +from launch.event_handlers import OnProcessExit +from launch.substitutions import Command, FindExecutable, LaunchConfiguration, PathJoinSubstitution + from launch_ros.actions import Node -from launch.substitutions import LaunchConfiguration, ThisLaunchFileDir +from launch_ros.substitutions import FindPackageShare def generate_launch_description(): @@ -29,8 +29,9 @@ def generate_launch_description(): DeclareLaunchArgument( "prefix", default_value='""', - description="Prefix of the joint names, useful for multi-robot setup. \ - If changed than also joint names in the controllers configuration have to be updated.", + description="Prefix of the joint names, useful for \ + multi-robot setup. If changed than also joint names in the controllers' configuration \ + have to be updated.", ) ) declared_arguments.append( @@ -50,9 +51,14 @@ def generate_launch_description(): ) declared_arguments.append( DeclareLaunchArgument( - "slowdown", - default_value="50.0", - description="Slowdown factor of the RRbot.", + "slowdown", default_value="50.0", description="Slowdown factor of the RRbot." + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "start_rviz", + default_value="true", + description="Start RViz2 automatically with this launch file.", ) ) @@ -61,17 +67,78 @@ def generate_launch_description(): use_mock_hardware = LaunchConfiguration("use_mock_hardware") mock_sensor_commands = LaunchConfiguration("mock_sensor_commands") slowdown = LaunchConfiguration("slowdown") + start_rviz = LaunchConfiguration("start_rviz") - base_launch = IncludeLaunchDescription( - PythonLaunchDescriptionSource([ThisLaunchFileDir(), "/rrbot_base.launch.py"]), - launch_arguments={ - "controllers_file": "rrbot_with_sensor_controllers.yaml", - "description_file": "rrbot_system_with_sensor.urdf.xacro", - "prefix": prefix, - "use_mock_hardware": use_mock_hardware, - "mock_sensor_commands": mock_sensor_commands, - "slowdown": slowdown, - }.items(), + # Get URDF via xacro + robot_description_content = Command( + [ + PathJoinSubstitution([FindExecutable(name="xacro")]), + " ", + PathJoinSubstitution( + [ + FindPackageShare("ros2_control_demo_example_4"), + "urdf", + "rrbot_system_with_sensor.urdf.xacro", + ] + ), + " ", + "prefix:=", + prefix, + " ", + "use_mock_hardware:=", + use_mock_hardware, + " ", + "mock_sensor_commands:=", + mock_sensor_commands, + " ", + "slowdown:=", + slowdown, + ] + ) + robot_description = {"robot_description": robot_description_content} + + robot_controllers = PathJoinSubstitution( + [ + FindPackageShare("ros2_control_demo_example_4"), + "config", + "rrbot_with_sensor_controllers.yaml", + ] + ) + rviz_config_file = PathJoinSubstitution( + [FindPackageShare("ros2_control_demo_example_4"), "rviz", "rrbot.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], + ) + rviz_node = Node( + package="rviz2", + executable="rviz2", + name="rviz2", + output="log", + arguments=["-d", rviz_config_file], + condition=IfCondition(start_rviz), + ) + + 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=["forward_position_controller", "--controller-manager", "/controller_manager"], ) # add the spawner node for the fts_broadcaster @@ -81,9 +148,29 @@ def generate_launch_description(): arguments=["fts_broadcaster", "--controller-manager", "/controller_manager"], ) - # collect all the nodes here + # 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, fts_broadcaster_spawner, ] - return LaunchDescription(declared_arguments + [base_launch] + nodes) + return LaunchDescription(declared_arguments + nodes) diff --git a/example_5/bringup/launch/rrbot_base.launch.py b/example_5/bringup/launch/rrbot_base.launch.py deleted file mode 100644 index 27835bab7..000000000 --- a/example_5/bringup/launch/rrbot_base.launch.py +++ /dev/null @@ -1,205 +0,0 @@ -# Copyright 2021 Stogl Robotics Consulting UG (haftungsbeschränkt) -# -# 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, LaunchConfiguration, PathJoinSubstitution - -from launch_ros.actions import Node -from launch_ros.substitutions import FindPackageShare - - -def generate_launch_description(): - # Declare arguments - declared_arguments = [] - declared_arguments.append( - DeclareLaunchArgument( - "runtime_config_package", - default_value="ros2_control_demo_example_5", - description='Package with the controller\'s configuration in "config" folder. \ - Usually the argument is not set, it enables use of a custom setup.', - ) - ) - declared_arguments.append( - DeclareLaunchArgument( - "controllers_file", - default_value="rrbot_controllers.yaml", - description="YAML file with the controllers configuration.", - ) - ) - declared_arguments.append( - DeclareLaunchArgument( - "description_package", - default_value="ros2_control_demo_example_5", - description="Description package with robot URDF/xacro files. Usually the argument \ - is not set, it enables use of a custom description.", - ) - ) - declared_arguments.append( - DeclareLaunchArgument( - "description_file", - description="URDF/XACRO description file with the robot.", - ) - ) - declared_arguments.append( - DeclareLaunchArgument( - "prefix", - default_value='""', - description="Prefix of the joint names, useful for \ - multi-robot setup. If changed than also joint names in the controllers' configuration \ - have to be updated.", - ) - ) - declared_arguments.append( - DeclareLaunchArgument( - "use_mock_hardware", - default_value="true", - description="Start robot with mock hardware mirroring command to its states.", - ) - ) - declared_arguments.append( - DeclareLaunchArgument( - "mock_sensor_commands", - default_value="false", - description="Enable fake command interfaces for sensors used for simple simulations. \ - Used only if 'use_mock_hardware' parameter is true.", - ) - ) - declared_arguments.append( - DeclareLaunchArgument( - "slowdown", default_value="3.0", description="Slowdown factor of the RRbot." - ) - ) - declared_arguments.append( - DeclareLaunchArgument( - "robot_controller", - default_value="forward_position_controller", - description="Robot controller to start.", - ) - ) - declared_arguments.append( - DeclareLaunchArgument( - "start_rviz", - default_value="true", - description="Start RViz2 automatically with this launch file.", - ) - ) - - # Initialize Arguments - runtime_config_package = LaunchConfiguration("runtime_config_package") - controllers_file = LaunchConfiguration("controllers_file") - description_package = LaunchConfiguration("description_package") - description_file = LaunchConfiguration("description_file") - prefix = LaunchConfiguration("prefix") - use_mock_hardware = LaunchConfiguration("use_mock_hardware") - mock_sensor_commands = LaunchConfiguration("mock_sensor_commands") - slowdown = LaunchConfiguration("slowdown") - robot_controller = LaunchConfiguration("robot_controller") - start_rviz = LaunchConfiguration("start_rviz") - - # Get URDF via xacro - robot_description_content = Command( - [ - PathJoinSubstitution([FindExecutable(name="xacro")]), - " ", - PathJoinSubstitution( - [FindPackageShare(description_package), "urdf", description_file] - ), - " ", - "prefix:=", - prefix, - " ", - "use_mock_hardware:=", - use_mock_hardware, - " ", - "mock_sensor_commands:=", - mock_sensor_commands, - " ", - "slowdown:=", - slowdown, - ] - ) - robot_description = {"robot_description": robot_description_content} - - robot_controllers = PathJoinSubstitution( - [ - FindPackageShare(runtime_config_package), - "config", - controllers_file, - ] - ) - rviz_config_file = PathJoinSubstitution( - [FindPackageShare(description_package), "rviz", "rrbot.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], - ) - rviz_node = Node( - package="rviz2", - executable="rviz2", - name="rviz2", - output="log", - arguments=["-d", rviz_config_file], - condition=IfCondition(start_rviz), - ) - - 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=[robot_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) 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 index 566b1f501..4c963ee8e 100755 --- a/example_5/bringup/launch/rrbot_system_with_external_sensor.launch.py +++ b/example_5/bringup/launch/rrbot_system_with_external_sensor.launch.py @@ -1,4 +1,4 @@ -# Copyright (c) 2021, Stogl Robotics Consulting UG (haftungsbeschränkt) +# Copyright 2021 Stogl Robotics Consulting UG (haftungsbeschränkt) # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. @@ -11,15 +11,15 @@ # 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. -# -# -# Authors: Subhas Das, Denis Stogl from launch import LaunchDescription -from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription -from launch.launch_description_sources import PythonLaunchDescriptionSource +from launch.actions import DeclareLaunchArgument, RegisterEventHandler +from launch.conditions import IfCondition +from launch.event_handlers import OnProcessExit +from launch.substitutions import Command, FindExecutable, LaunchConfiguration, PathJoinSubstitution + from launch_ros.actions import Node -from launch.substitutions import LaunchConfiguration, ThisLaunchFileDir +from launch_ros.substitutions import FindPackageShare def generate_launch_description(): @@ -29,8 +29,9 @@ def generate_launch_description(): DeclareLaunchArgument( "prefix", default_value='""', - description="Prefix of the joint names, useful for multi-robot setup. \ - If changed than also joint names in the controllers configuration have to be updated.", + description="Prefix of the joint names, useful for \ + multi-robot setup. If changed than also joint names in the controllers' configuration \ + have to be updated.", ) ) declared_arguments.append( @@ -48,12 +49,16 @@ def generate_launch_description(): Used only if 'use_mock_hardware' parameter is true.", ) ) - declared_arguments.append( DeclareLaunchArgument( - "slowdown", - default_value="50.0", - description="Slowdown factor of the RRbot.", + "slowdown", default_value="50.0", description="Slowdown factor of the RRbot." + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "start_rviz", + default_value="true", + description="Start RViz2 automatically with this launch file.", ) ) @@ -62,17 +67,78 @@ def generate_launch_description(): use_mock_hardware = LaunchConfiguration("use_mock_hardware") mock_sensor_commands = LaunchConfiguration("mock_sensor_commands") slowdown = LaunchConfiguration("slowdown") + start_rviz = LaunchConfiguration("start_rviz") + + # Get URDF via xacro + robot_description_content = Command( + [ + PathJoinSubstitution([FindExecutable(name="xacro")]), + " ", + PathJoinSubstitution( + [ + FindPackageShare("ros2_control_demo_example_5"), + "urdf", + "rrbot_system_with_external_sensor.urdf.xacro", + ] + ), + " ", + "prefix:=", + prefix, + " ", + "use_mock_hardware:=", + use_mock_hardware, + " ", + "mock_sensor_commands:=", + mock_sensor_commands, + " ", + "slowdown:=", + slowdown, + ] + ) + robot_description = {"robot_description": robot_description_content} + + robot_controllers = PathJoinSubstitution( + [ + FindPackageShare("ros2_control_demo_example_5"), + "config", + "rrbot_with_external_sensor_controllers.yaml", + ] + ) + rviz_config_file = PathJoinSubstitution( + [FindPackageShare("ros2_control_demo_example_5"), "rviz", "rrbot.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], + ) + rviz_node = Node( + package="rviz2", + executable="rviz2", + name="rviz2", + output="log", + arguments=["-d", rviz_config_file], + condition=IfCondition(start_rviz), + ) - base_launch = IncludeLaunchDescription( - PythonLaunchDescriptionSource([ThisLaunchFileDir(), "/rrbot_base.launch.py"]), - launch_arguments={ - "controllers_file": "rrbot_with_external_sensor_controllers.yaml", - "description_file": "rrbot_system_with_external_sensor.urdf.xacro", - "prefix": prefix, - "use_mock_hardware": use_mock_hardware, - "mock_sensor_commands": mock_sensor_commands, - "slowdown": slowdown, - }.items(), + 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=["forward_position_controller", "--controller-manager", "/controller_manager"], ) # add the spawner node for the fts_broadcaster @@ -82,9 +148,29 @@ def generate_launch_description(): arguments=["fts_broadcaster", "--controller-manager", "/controller_manager"], ) - # collect all the nodes here + # 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, fts_broadcaster_spawner, ] - return LaunchDescription(declared_arguments + [base_launch] + nodes) + return LaunchDescription(declared_arguments + nodes) diff --git a/example_6/bringup/config/rrbot_modular_actuators.yaml b/example_6/bringup/config/rrbot_modular_actuators.yaml index 410212de9..15846b724 100644 --- a/example_6/bringup/config/rrbot_modular_actuators.yaml +++ b/example_6/bringup/config/rrbot_modular_actuators.yaml @@ -1,6 +1,6 @@ controller_manager: ros__parameters: - update_rate: 2 # Hz + update_rate: 100 # Hz joint_state_broadcaster: type: joint_state_broadcaster/JointStateBroadcaster diff --git a/example_6/bringup/launch/rrbot_base.launch.py b/example_6/bringup/launch/rrbot_base.launch.py deleted file mode 100644 index 7fc4e395b..000000000 --- a/example_6/bringup/launch/rrbot_base.launch.py +++ /dev/null @@ -1,205 +0,0 @@ -# Copyright 2021 Stogl Robotics Consulting UG (haftungsbeschränkt) -# -# 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, LaunchConfiguration, PathJoinSubstitution - -from launch_ros.actions import Node -from launch_ros.substitutions import FindPackageShare - - -def generate_launch_description(): - # Declare arguments - declared_arguments = [] - declared_arguments.append( - DeclareLaunchArgument( - "runtime_config_package", - default_value="ros2_control_demo_example_6", - description='Package with the controller\'s configuration in "config" folder. \ - Usually the argument is not set, it enables use of a custom setup.', - ) - ) - declared_arguments.append( - DeclareLaunchArgument( - "controllers_file", - default_value="rrbot_controllers.yaml", - description="YAML file with the controllers configuration.", - ) - ) - declared_arguments.append( - DeclareLaunchArgument( - "description_package", - default_value="ros2_control_demo_example_6", - description="Description package with robot URDF/xacro files. Usually the argument \ - is not set, it enables use of a custom description.", - ) - ) - declared_arguments.append( - DeclareLaunchArgument( - "description_file", - description="URDF/XACRO description file with the robot.", - ) - ) - declared_arguments.append( - DeclareLaunchArgument( - "prefix", - default_value='""', - description="Prefix of the joint names, useful for \ - multi-robot setup. If changed than also joint names in the controllers' configuration \ - have to be updated.", - ) - ) - declared_arguments.append( - DeclareLaunchArgument( - "use_mock_hardware", - default_value="true", - description="Start robot with mock hardware mirroring command to its states.", - ) - ) - declared_arguments.append( - DeclareLaunchArgument( - "mock_sensor_commands", - default_value="false", - description="Enable fake command interfaces for sensors used for simple simulations. \ - Used only if 'use_mock_hardware' parameter is true.", - ) - ) - declared_arguments.append( - DeclareLaunchArgument( - "slowdown", default_value="3.0", description="Slowdown factor of the RRbot." - ) - ) - declared_arguments.append( - DeclareLaunchArgument( - "robot_controller", - default_value="forward_position_controller", - description="Robot controller to start.", - ) - ) - declared_arguments.append( - DeclareLaunchArgument( - "start_rviz", - default_value="true", - description="Start RViz2 automatically with this launch file.", - ) - ) - - # Initialize Arguments - runtime_config_package = LaunchConfiguration("runtime_config_package") - controllers_file = LaunchConfiguration("controllers_file") - description_package = LaunchConfiguration("description_package") - description_file = LaunchConfiguration("description_file") - prefix = LaunchConfiguration("prefix") - use_mock_hardware = LaunchConfiguration("use_mock_hardware") - mock_sensor_commands = LaunchConfiguration("mock_sensor_commands") - slowdown = LaunchConfiguration("slowdown") - robot_controller = LaunchConfiguration("robot_controller") - start_rviz = LaunchConfiguration("start_rviz") - - # Get URDF via xacro - robot_description_content = Command( - [ - PathJoinSubstitution([FindExecutable(name="xacro")]), - " ", - PathJoinSubstitution( - [FindPackageShare(description_package), "urdf", description_file] - ), - " ", - "prefix:=", - prefix, - " ", - "use_mock_hardware:=", - use_mock_hardware, - " ", - "mock_sensor_commands:=", - mock_sensor_commands, - " ", - "slowdown:=", - slowdown, - ] - ) - robot_description = {"robot_description": robot_description_content} - - robot_controllers = PathJoinSubstitution( - [ - FindPackageShare(runtime_config_package), - "config", - controllers_file, - ] - ) - rviz_config_file = PathJoinSubstitution( - [FindPackageShare(description_package), "rviz", "rrbot.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], - ) - rviz_node = Node( - package="rviz2", - executable="rviz2", - name="rviz2", - output="log", - arguments=["-d", rviz_config_file], - condition=IfCondition(start_rviz), - ) - - 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=[robot_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) diff --git a/example_6/bringup/launch/rrbot_modular_actuators.launch.py b/example_6/bringup/launch/rrbot_modular_actuators.launch.py index 0e17447ec..384df6230 100644 --- a/example_6/bringup/launch/rrbot_modular_actuators.launch.py +++ b/example_6/bringup/launch/rrbot_modular_actuators.launch.py @@ -1,4 +1,4 @@ -# Copyright (c) 2021, Stogl Robotics Consulting UG (haftungsbeschränkt) +# Copyright 2021 Stogl Robotics Consulting UG (haftungsbeschränkt) # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. @@ -13,9 +13,13 @@ # limitations under the License. from launch import LaunchDescription -from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription -from launch.launch_description_sources import PythonLaunchDescriptionSource -from launch.substitutions import LaunchConfiguration, ThisLaunchFileDir +from launch.actions import DeclareLaunchArgument, RegisterEventHandler +from launch.conditions import IfCondition +from launch.event_handlers import OnProcessExit +from launch.substitutions import Command, FindExecutable, LaunchConfiguration, PathJoinSubstitution + +from launch_ros.actions import Node +from launch_ros.substitutions import FindPackageShare def generate_launch_description(): @@ -26,13 +30,28 @@ def generate_launch_description(): "prefix", default_value='""', description="Prefix of the joint names, useful for \ - multi-robot setup. If changed, joint names in the controllers' configuration \ - also have to be updated.", + multi-robot setup. If changed than also joint names in the controllers' configuration \ + have to be updated.", + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "use_mock_hardware", + default_value="false", + description="Start robot with mock hardware mirroring command to its states.", + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "mock_sensor_commands", + default_value="false", + description="Enable fake command interfaces for sensors used for simple simulations. \ + Used only if 'use_mock_hardware' parameter is true.", ) ) declared_arguments.append( DeclareLaunchArgument( - "slowdown", default_value="3.0", description="Slowdown factor of the RRbot." + "slowdown", default_value="50.0", description="Slowdown factor of the RRbot." ) ) declared_arguments.append( @@ -42,22 +61,116 @@ def generate_launch_description(): description="Robot controller to start.", ) ) + declared_arguments.append( + DeclareLaunchArgument( + "start_rviz", + default_value="true", + description="Start RViz2 automatically with this launch file.", + ) + ) # Initialize Arguments prefix = LaunchConfiguration("prefix") + use_mock_hardware = LaunchConfiguration("use_mock_hardware") + mock_sensor_commands = LaunchConfiguration("mock_sensor_commands") slowdown = LaunchConfiguration("slowdown") robot_controller = LaunchConfiguration("robot_controller") + start_rviz = LaunchConfiguration("start_rviz") + + # Get URDF via xacro + robot_description_content = Command( + [ + PathJoinSubstitution([FindExecutable(name="xacro")]), + " ", + PathJoinSubstitution( + [ + FindPackageShare("ros2_control_demo_example_6"), + "urdf", + "rrbot_modular_actuators.urdf.xacro", + ] + ), + " ", + "prefix:=", + prefix, + " ", + "use_mock_hardware:=", + use_mock_hardware, + " ", + "mock_sensor_commands:=", + mock_sensor_commands, + " ", + "slowdown:=", + slowdown, + ] + ) + robot_description = {"robot_description": robot_description_content} - base_launch = IncludeLaunchDescription( - PythonLaunchDescriptionSource([ThisLaunchFileDir(), "/rrbot_base.launch.py"]), - launch_arguments={ - "controllers_file": "rrbot_modular_actuators.yaml", - "description_file": "rrbot_modular_actuators.urdf.xacro", - "prefix": prefix, - "use_mock_hardware": "false", - "slowdown": slowdown, - "robot_controller": robot_controller, - }.items(), + robot_controllers = PathJoinSubstitution( + [ + FindPackageShare("ros2_control_demo_example_6"), + "config", + "rrbot_modular_actuators.yaml", + ] + ) + rviz_config_file = PathJoinSubstitution( + [FindPackageShare("ros2_control_demo_example_6"), "rviz", "rrbot.rviz"] ) - return LaunchDescription(declared_arguments + [base_launch]) + 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], + ) + rviz_node = Node( + package="rviz2", + executable="rviz2", + name="rviz2", + output="log", + arguments=["-d", rviz_config_file], + condition=IfCondition(start_rviz), + ) + + 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=[robot_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) diff --git a/example_8/bringup/launch/rrbot_base.launch.py b/example_8/bringup/launch/rrbot_base.launch.py deleted file mode 100644 index 1720fcfd6..000000000 --- a/example_8/bringup/launch/rrbot_base.launch.py +++ /dev/null @@ -1,205 +0,0 @@ -# Copyright 2021 Stogl Robotics Consulting UG (haftungsbeschränkt) -# -# 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, LaunchConfiguration, PathJoinSubstitution - -from launch_ros.actions import Node -from launch_ros.substitutions import FindPackageShare - - -def generate_launch_description(): - # Declare arguments - declared_arguments = [] - declared_arguments.append( - DeclareLaunchArgument( - "runtime_config_package", - default_value="ros2_control_demo_example_8", - description='Package with the controller\'s configuration in "config" folder. \ - Usually the argument is not set, it enables use of a custom setup.', - ) - ) - declared_arguments.append( - DeclareLaunchArgument( - "controllers_file", - default_value="rrbot_controllers.yaml", - description="YAML file with the controllers configuration.", - ) - ) - declared_arguments.append( - DeclareLaunchArgument( - "description_package", - default_value="ros2_control_demo_example_8", - description="Description package with robot URDF/xacro files. Usually the argument \ - is not set, it enables use of a custom description.", - ) - ) - declared_arguments.append( - DeclareLaunchArgument( - "description_file", - description="URDF/XACRO description file with the robot.", - ) - ) - declared_arguments.append( - DeclareLaunchArgument( - "prefix", - default_value='""', - description="Prefix of the joint names, useful for \ - multi-robot setup. If changed than also joint names in the controllers' configuration \ - have to be updated.", - ) - ) - declared_arguments.append( - DeclareLaunchArgument( - "use_mock_hardware", - default_value="true", - description="Start robot with mock hardware mirroring command to its states.", - ) - ) - declared_arguments.append( - DeclareLaunchArgument( - "mock_sensor_commands", - default_value="false", - description="Enable fake command interfaces for sensors used for simple simulations. \ - Used only if 'use_mock_hardware' parameter is true.", - ) - ) - declared_arguments.append( - DeclareLaunchArgument( - "slowdown", default_value="3.0", description="Slowdown factor of the RRbot." - ) - ) - declared_arguments.append( - DeclareLaunchArgument( - "robot_controller", - default_value="forward_position_controller", - description="Robot controller to start.", - ) - ) - declared_arguments.append( - DeclareLaunchArgument( - "start_rviz", - default_value="true", - description="Start RViz2 automatically with this launch file.", - ) - ) - - # Initialize Arguments - runtime_config_package = LaunchConfiguration("runtime_config_package") - controllers_file = LaunchConfiguration("controllers_file") - description_package = LaunchConfiguration("description_package") - description_file = LaunchConfiguration("description_file") - prefix = LaunchConfiguration("prefix") - use_mock_hardware = LaunchConfiguration("use_mock_hardware") - mock_sensor_commands = LaunchConfiguration("mock_sensor_commands") - slowdown = LaunchConfiguration("slowdown") - robot_controller = LaunchConfiguration("robot_controller") - start_rviz = LaunchConfiguration("start_rviz") - - # Get URDF via xacro - robot_description_content = Command( - [ - PathJoinSubstitution([FindExecutable(name="xacro")]), - " ", - PathJoinSubstitution( - [FindPackageShare(description_package), "urdf", description_file] - ), - " ", - "prefix:=", - prefix, - " ", - "use_mock_hardware:=", - use_mock_hardware, - " ", - "mock_sensor_commands:=", - mock_sensor_commands, - " ", - "slowdown:=", - slowdown, - ] - ) - robot_description = {"robot_description": robot_description_content} - - robot_controllers = PathJoinSubstitution( - [ - FindPackageShare(runtime_config_package), - "config", - controllers_file, - ] - ) - rviz_config_file = PathJoinSubstitution( - [FindPackageShare(description_package), "rviz", "rrbot.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], - ) - rviz_node = Node( - package="rviz2", - executable="rviz2", - name="rviz2", - output="log", - arguments=["-d", rviz_config_file], - condition=IfCondition(start_rviz), - ) - - 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=[robot_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) 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 index 6d3d0dca3..6209560bf 100644 --- a/example_8/bringup/launch/rrbot_transmissions_system_position_only.launch.py +++ b/example_8/bringup/launch/rrbot_transmissions_system_position_only.launch.py @@ -13,9 +13,13 @@ # limitations under the License. from launch import LaunchDescription -from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription -from launch.launch_description_sources import PythonLaunchDescriptionSource -from launch.substitutions import LaunchConfiguration, ThisLaunchFileDir +from launch.actions import DeclareLaunchArgument, RegisterEventHandler +from launch.conditions import IfCondition +from launch.event_handlers import OnProcessExit +from launch.substitutions import Command, FindExecutable, LaunchConfiguration, PathJoinSubstitution + +from launch_ros.actions import Node +from launch_ros.substitutions import FindPackageShare def generate_launch_description(): @@ -56,15 +60,94 @@ def generate_launch_description(): robot_controller = LaunchConfiguration("robot_controller") start_rviz = LaunchConfiguration("start_rviz") - base_launch = IncludeLaunchDescription( - PythonLaunchDescriptionSource([ThisLaunchFileDir(), "/rrbot_base.launch.py"]), - launch_arguments={ - "description_file": "rrbot_transmissions_system_position_only.urdf.xacro", - "prefix": prefix, - "slowdown": slowdown, - "robot_controller": robot_controller, - "start_rviz": start_rviz, - }.items(), + # Get URDF via xacro + robot_description_content = Command( + [ + PathJoinSubstitution([FindExecutable(name="xacro")]), + " ", + PathJoinSubstitution( + [ + FindPackageShare("ros2_control_demo_example_8"), + "urdf", + "rrbot_transmissions_system_position_only.urdf.xacro", + ] + ), + " ", + "prefix:=", + prefix, + " ", + "slowdown:=", + slowdown, + ] + ) + robot_description = {"robot_description": robot_description_content} + + robot_controllers = PathJoinSubstitution( + [ + FindPackageShare("ros2_control_demo_example_8"), + "config", + "rrbot_controllers.yaml", + ] + ) + rviz_config_file = PathJoinSubstitution( + [FindPackageShare("ros2_control_demo_example_8"), "rviz", "rrbot.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], + ) + rviz_node = Node( + package="rviz2", + executable="rviz2", + name="rviz2", + output="log", + arguments=["-d", rviz_config_file], + condition=IfCondition(start_rviz), + ) + + joint_state_broadcaster_spawner = Node( + package="controller_manager", + executable="spawner", + arguments=["joint_state_broadcaster", "--controller-manager", "/controller_manager"], ) - return LaunchDescription(declared_arguments + [base_launch]) + robot_controller_spawner = Node( + package="controller_manager", + executable="spawner", + arguments=[robot_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) From b3b5ced260f513b9b46e89a72398e7fd2ef6874b Mon Sep 17 00:00:00 2001 From: "mergify[bot]" <37929162+mergify[bot]@users.noreply.github.com> Date: Wed, 28 Jun 2023 20:34:38 +0200 Subject: [PATCH 15/36] Install ros2_control framework from binary packages (#308) (#321) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit * Install ros2_control framework from binary packages * User symlink install (cherry picked from commit 8081073d0a03b68355dee8227e8bf26ff1a3b261) Co-authored-by: Christoph Fröhlich --- Dockerfile/Dockerfile | 8 +++----- 1 file changed, 3 insertions(+), 5 deletions(-) diff --git a/Dockerfile/Dockerfile b/Dockerfile/Dockerfile index e40883cb5..59ae934c4 100644 --- a/Dockerfile/Dockerfile +++ b/Dockerfile/Dockerfile @@ -10,16 +10,14 @@ RUN apt-get update \ COPY . /home/ros2_ws/src/ros2_control_demos RUN cd /home/ros2_ws/src \ - && vcs import < ros2_control_demos/ros2_control_demos.${ROS_DISTRO}.repos \ - && apt-get update \ && rosdep update \ - && rosdep install --from-paths ./ -i -y --rosdistro ${ROS_DISTRO} + && rosdep install --from-paths ./ -i -y --rosdistro ${ROS_DISTRO} --skip-keys rviz2 RUN cd /home/ros2_ws/ \ && . /opt/ros/${ROS_DISTRO}/setup.sh \ - && colcon build --merge-install + && colcon build --merge-install --symlink-install COPY Dockerfile/entrypoint.sh /entrypoint.sh ENTRYPOINT ["/entrypoint.sh"] -CMD ros2 launch ros2_control_demo_example_2 diffbot.launch.py start_rviz:=false +CMD ros2 launch ros2_control_demo_example_1 rrbot.launch.py start_rviz:=false From ba54f204222503dcba83b09dd830dec0a6610426 Mon Sep 17 00:00:00 2001 From: "mergify[bot]" <37929162+mergify[bot]@users.noreply.github.com> Date: Wed, 28 Jun 2023 20:39:27 +0200 Subject: [PATCH 16/36] Move installation instructions to RST and update docker usage instructions (backport #309) (#322) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit * Move installation instructions to RST and update docker usage instructions (#309) Co-authored-by: Reza Kermani (cherry picked from commit 815e05e2990aaa7fe45f673cd01bf2e969c1e4aa) * Use humble instead of rolling branch in docs --------- Co-authored-by: Christoph Fröhlich Co-authored-by: Christoph Froehlich --- README.md | 52 ------ doc/index.rst | 154 ++++++++++++++++++ doc/run_from_docker.rst | 9 + example_1/bringup/launch/rrbot.launch.py | 6 +- .../description/launch/view_robot.launch.py | 12 ++ example_1/doc/userdoc.rst | 2 + example_2/bringup/launch/diffbot.launch.py | 6 +- .../description/launch/view_robot.launch.py | 12 ++ example_2/doc/userdoc.rst | 2 + .../rrbot_system_multi_interface.launch.py | 6 +- .../description/launch/view_robot.launch.py | 12 ++ example_3/doc/userdoc.rst | 2 + .../launch/rrbot_system_with_sensor.launch.py | 6 +- .../description/launch/view_robot.launch.py | 12 ++ example_4/doc/userdoc.rst | 1 + ...rbot_system_with_external_sensor.launch.py | 6 +- .../description/launch/view_robot.launch.py | 12 ++ example_5/doc/userdoc.rst | 2 + .../launch/rrbot_modular_actuators.launch.py | 6 +- .../description/launch/view_robot.launch.py | 12 ++ example_6/doc/userdoc.rst | 2 + ...ansmissions_system_position_only.launch.py | 6 +- .../description/launch/view_robot.launch.py | 12 ++ example_8/doc/userdoc.rst | 2 + example_9/bringup/launch/rrbot.launch.py | 22 ++- .../launch/rrbot_gazebo_classic.launch.py | 49 ++++-- .../description/launch/view_robot.launch.py | 12 ++ example_9/doc/userdoc.rst | 29 +++- 28 files changed, 378 insertions(+), 88 deletions(-) create mode 100644 doc/run_from_docker.rst diff --git a/README.md b/README.md index 0498731d5..83b6ff9da 100644 --- a/README.md +++ b/README.md @@ -78,34 +78,6 @@ The important files to check in each example are: The concepts in this package are demonstrated on the examples of *RRBot* and *DiffBot*. Those two world-known imaginary robots are trivial simulations to demonstrate and test `ros2_control` concepts. -## Usage -### Using Docker -**Building your own** - -```bash -mkdir -p ~/ros2_ws/src -cd ~/ros2_ws/src -git clone https://github.com/ros-controls/ros2_control_demos -cd ros2_control_demos -docker build . -t ros2_control_demos -f Dockerfile/Dockerfile -``` - -**To run the demo** - -Docker allows us to run the demo without the GUI if configured properly. The following command runs the demo without the GUI: -```bash -docker run -it --rm ros2_control_demos -``` - -Then on your local machine, you can run rviz with the config file specified: - -```bash -cd ~/ros2_ws -source /opt/ros/rolling/setup.sh -rviz2 -d src/ros2_control_demos/example_2/description/rviz/diffbot.rviz -``` - - ## Build status ROS 2 Distro | Branch | Build status | Documentation @@ -129,27 +101,3 @@ ROS 2 Distro | Branch | Build status | Documentation Uses repos file: `src/$NAME$/$NAME$.repos` 1. Source build - also core ROS packages are build from source. It shows potential issues in the mid future. - - -# Build from source -``` -git clone https://github.com/ros-controls/ros2_control -git clone https://github.com/ros-controls/ros2_controllers -git clone https://github.com/ros-controls/ros2_control_demos -``` - -**NOTE**: `ros2_control` and `ros2_controllers` packages are released and can be installed using a package manager. -We provide officially released and maintained debian packages, which can easily be installed via aptitude. -However, there might be cases in which not-yet released demos or features are only available through a source build in your own workspace. - -* Install dependencies: - ``` - rosdep install --from-paths src --ignore-src -r -y - ``` - -* Build everything, e.g. with: - ``` - colcon build --symlink-install - ``` - -* Do not forget to source `setup.bash` from the `install` folder! diff --git a/doc/index.rst b/doc/index.rst index 42d794409..1d8122187 100644 --- a/doc/index.rst +++ b/doc/index.rst @@ -70,6 +70,160 @@ Example 8: "Using transmissions" Example 9: "Gazebo Classic" Demonstrates how to switch between simulation and hardware. + +.. _ros2_control_demos_install: + +===================== +Installation +===================== + +You can install the demos manually or use the provided docker file. + +Manual Install +--------------- + +First, you have to install `ROS 2 on your computer `__. + +.. note:: + + ``ros2_control`` and ``ros2_controllers`` packages are released and can be installed using a package manager. + We provide officially released and maintained debian packages, which can easily be installed via aptitude. + However, there might be cases in which not-yet released demos or features are only available through a source build in your own workspace. + +Build from debian packages +^^^^^^^^^^^^^^^^^^^^^^^^^^ + +Download the ``ros2_control_demos`` repository and install its dependencies with + +.. code-block:: shell + + mkdir -p ~/ros2_ws/src + cd ~/ros2_ws/src + git clone https://github.com/ros-controls/ros2_control_demos + cd ~/ros2_ws/ + rosdep update --rosdistro=$ROS_DISTRO + sudo apt-get update + sudo rosdep install --from-paths ./ -i -y --rosdistro ${ROS_DISTRO} + +Now you can build the repository (source your ROS 2 installation first) + +.. code-block:: shell + + cd ~/ros2_ws/ + . /opt/ros/${ROS_DISTRO}/setup.sh + colcon build --merge-install + + +Build from source +^^^^^^^^^^^^^^^^^ + +* Download all repositories + + .. code-block:: shell + + mkdir -p ~/ros2_ws/src + cd ~/ros2_ws/src + git clone https://github.com/ros-controls/ros2_control_demos + cd ~/ros2_ws/ + vcs import src < src/ros2_control_demos/ros2_control_demos.$ROS_DISTRO.repos + rosdep update --rosdistro=$ROS_DISTRO + sudo apt-get update + +* Install dependencies: + + .. code-block:: shell + + rosdep install --from-paths src --ignore-src -r -y + +* Build everything, e.g. with: + + .. code-block:: shell + + . /opt/ros/${ROS_DISTRO}/setup.sh + colcon build --symlink-install + +* Do not forget to source ``setup.bash`` from the ``install`` folder! + +Using Docker +--------------- + +First, build the dockerfile with + +.. code-block:: shell + + mkdir -p ~/ros2_ws/src + cd ~/ros2_ws/src + git clone https://github.com/ros-controls/ros2_control_demos + cd ros2_control_demos + docker build . -t ros2_control_demos -f Dockerfile/Dockerfile + +To view the robot +^^^^^^^^^^^^^^^^^ + +Docker now allows us to run the demo without the GUI if configured properly. Now we can view the robot by the following procedure: + +After having `ROS 2 installed `__ on your local system (not inside the docker), we can use ``rviz2`` to visualize the robot state and ``joint_state_publisher_gui`` package to give manual joint values to the robot. To install the package you can run: + +.. code-block:: shell + + sudo apt-get install -y ros-${ROS_DISTRO}-joint-state-publisher-gui ros-${ROS_DISTRO}-rviz2 + +Then we are ready to bring up all the components to view the robot. Let's start with the docker container by running the following command: + +.. code-block:: shell + + docker run -it --rm --name ros2_control_demos --net host ros2_control_demos ros2 launch ros2_control_demos_example_1 view_robot.launch.py gui:=false + +.. note:: + + Depending on your machine settings, it might be possible that you have to omit ``--net host``. + +Now, we need to start ``rviz2`` to view the robot as well as ``joint_state_publisher_gui``, each in their own terminals after sourcing our ROS 2 installation. + +Terminal 1: + +.. code-block:: shell + + source /opt/ros/${ROS_DISTRO}/setup.bash + ros2 run joint_state_publisher_gui joint_state_publisher_gui + +Terminal 2: + +.. code-block:: shell + + source /opt/ros/${ROS_DISTRO}/setup.bash + cd ~/ros2_ws + rviz2 -d src/ros2_control_demos/example_1/description/rviz/rrbot.rviz + +Now, you can see the robot moving by changing the values of the joints by moving the sliders around in the ``joint_state_publisher_gui``. + +To run the ros2_control demos +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +The following command runs the demo without the GUI: + +.. code-block:: shell + + docker run -it --rm --name ros2_control_demos --net host ros2_control_demos + +.. note:: + + Depending on your machine settings, it might be possible that you have to omit ``--net host``. + +Then on your local machine, you can run rviz2 with the config file specified: + +.. code-block:: shell + + cd ~/ros2_ws + source /opt/ros/${ROS_DISTRO}/setup.sh + rviz2 -d src/ros2_control_demos/example_1/description/rviz/rrbot.rviz + +You can also run other commands or launch files from the docker, e.g. + +.. code-block:: shell + + docker run -it --rm --name ros2_control_demos --net host ros2_control_demos ros2 launch ros2_control_demo_example_2 diffbot.launch.py + ===================== Quick Hints ===================== diff --git a/doc/run_from_docker.rst b/doc/run_from_docker.rst new file mode 100644 index 000000000..f4339e857 --- /dev/null +++ b/doc/run_from_docker.rst @@ -0,0 +1,9 @@ +.. note:: + + The commands below are given for a local installation of this repository and its dependencies. If you use the provided docker container, add the prefix + + .. code:: + + docker run -it --rm --name ros2_control_demos --net host ros2_control_demos + + to every command followed by a ``gui:=false``. For more information on the docker usage see :ref:`ros2_control_demos_install`. diff --git a/example_1/bringup/launch/rrbot.launch.py b/example_1/bringup/launch/rrbot.launch.py index 7323474df..6eab86b32 100644 --- a/example_1/bringup/launch/rrbot.launch.py +++ b/example_1/bringup/launch/rrbot.launch.py @@ -28,14 +28,14 @@ def generate_launch_description(): declared_arguments = [] declared_arguments.append( DeclareLaunchArgument( - "start_rviz", + "gui", default_value="true", description="Start RViz2 automatically with this launch file.", ) ) # Initialize Arguments - start_rviz = LaunchConfiguration("start_rviz") + gui = LaunchConfiguration("gui") # Get URDF via xacro robot_description_content = Command( @@ -82,7 +82,7 @@ def generate_launch_description(): name="rviz2", output="log", arguments=["-d", rviz_config_file], - condition=IfCondition(start_rviz), + condition=IfCondition(gui), ) joint_state_broadcaster_spawner = Node( diff --git a/example_1/description/launch/view_robot.launch.py b/example_1/description/launch/view_robot.launch.py index 5295d4531..110a2e45c 100644 --- a/example_1/description/launch/view_robot.launch.py +++ b/example_1/description/launch/view_robot.launch.py @@ -14,6 +14,7 @@ from launch import LaunchDescription from launch.actions import DeclareLaunchArgument +from launch.conditions import IfCondition from launch.substitutions import Command, FindExecutable, LaunchConfiguration, PathJoinSubstitution from launch_ros.actions import Node @@ -38,6 +39,14 @@ def generate_launch_description(): 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( "prefix", @@ -51,6 +60,7 @@ 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 @@ -75,6 +85,7 @@ def generate_launch_description(): joint_state_publisher_node = Node( package="joint_state_publisher_gui", executable="joint_state_publisher_gui", + condition=IfCondition(gui), ) robot_state_publisher_node = Node( package="robot_state_publisher", @@ -88,6 +99,7 @@ def generate_launch_description(): name="rviz2", output="log", arguments=["-d", rviz_config_file], + condition=IfCondition(gui), ) nodes = [ diff --git a/example_1/doc/userdoc.rst b/example_1/doc/userdoc.rst index a3bb5e50e..ed825a431 100644 --- a/example_1/doc/userdoc.rst +++ b/example_1/doc/userdoc.rst @@ -19,6 +19,8 @@ For *example_1*, the hardware interface plugin is implemented having only one in The *RRBot* URDF files can be found in the ``description/urdf`` folder. +.. include:: ../../doc/run_from_docker.rst + Tutorial steps -------------------------- diff --git a/example_2/bringup/launch/diffbot.launch.py b/example_2/bringup/launch/diffbot.launch.py index c9cba5f10..b07d4e448 100644 --- a/example_2/bringup/launch/diffbot.launch.py +++ b/example_2/bringup/launch/diffbot.launch.py @@ -27,14 +27,14 @@ def generate_launch_description(): declared_arguments = [] declared_arguments.append( DeclareLaunchArgument( - "start_rviz", + "gui", default_value="true", description="Start RViz2 automatically with this launch file.", ) ) # Initialize Arguments - start_rviz = LaunchConfiguration("start_rviz") + gui = LaunchConfiguration("gui") # Get URDF via xacro robot_description_content = Command( @@ -80,7 +80,7 @@ def generate_launch_description(): name="rviz2", output="log", arguments=["-d", rviz_config_file], - condition=IfCondition(start_rviz), + condition=IfCondition(gui), ) joint_state_broadcaster_spawner = Node( diff --git a/example_2/description/launch/view_robot.launch.py b/example_2/description/launch/view_robot.launch.py index badd807c2..650994e76 100644 --- a/example_2/description/launch/view_robot.launch.py +++ b/example_2/description/launch/view_robot.launch.py @@ -14,6 +14,7 @@ from launch import LaunchDescription from launch.actions import DeclareLaunchArgument +from launch.conditions import IfCondition from launch.substitutions import Command, FindExecutable, LaunchConfiguration, PathJoinSubstitution from launch_ros.actions import Node @@ -38,6 +39,14 @@ def generate_launch_description(): 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( "prefix", @@ -51,6 +60,7 @@ 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 @@ -75,6 +85,7 @@ def generate_launch_description(): joint_state_publisher_node = Node( package="joint_state_publisher_gui", executable="joint_state_publisher_gui", + condition=IfCondition(gui), ) robot_state_publisher_node = Node( package="robot_state_publisher", @@ -88,6 +99,7 @@ def generate_launch_description(): name="rviz2", output="log", arguments=["-d", rviz_config_file], + condition=IfCondition(gui), ) nodes = [ diff --git a/example_2/doc/userdoc.rst b/example_2/doc/userdoc.rst index 56cd21b3f..4754aade0 100644 --- a/example_2/doc/userdoc.rst +++ b/example_2/doc/userdoc.rst @@ -16,6 +16,8 @@ For *example_2*, the hardware interface plugin is implemented having only one in The *DiffBot* URDF files can be found in ``description/urdf`` folder. +.. include:: ../../doc/run_from_docker.rst + Tutorial steps -------------------------- diff --git a/example_3/bringup/launch/rrbot_system_multi_interface.launch.py b/example_3/bringup/launch/rrbot_system_multi_interface.launch.py index 4ae3d116d..980d363f9 100644 --- a/example_3/bringup/launch/rrbot_system_multi_interface.launch.py +++ b/example_3/bringup/launch/rrbot_system_multi_interface.launch.py @@ -63,7 +63,7 @@ def generate_launch_description(): ) declared_arguments.append( DeclareLaunchArgument( - "start_rviz", + "gui", default_value="true", description="Start RViz2 automatically with this launch file.", ) @@ -75,7 +75,7 @@ def generate_launch_description(): mock_sensor_commands = LaunchConfiguration("mock_sensor_commands") slowdown = LaunchConfiguration("slowdown") robot_controller = LaunchConfiguration("robot_controller") - start_rviz = LaunchConfiguration("start_rviz") + gui = LaunchConfiguration("gui") # Get URDF via xacro robot_description_content = Command( @@ -134,7 +134,7 @@ def generate_launch_description(): name="rviz2", output="log", arguments=["-d", rviz_config_file], - condition=IfCondition(start_rviz), + condition=IfCondition(gui), ) joint_state_broadcaster_spawner = Node( diff --git a/example_3/description/launch/view_robot.launch.py b/example_3/description/launch/view_robot.launch.py index aa56706f4..53e4dc03f 100644 --- a/example_3/description/launch/view_robot.launch.py +++ b/example_3/description/launch/view_robot.launch.py @@ -14,6 +14,7 @@ from launch import LaunchDescription from launch.actions import DeclareLaunchArgument +from launch.conditions import IfCondition from launch.substitutions import Command, FindExecutable, LaunchConfiguration, PathJoinSubstitution from launch_ros.actions import Node @@ -38,6 +39,14 @@ def generate_launch_description(): 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( "prefix", @@ -51,6 +60,7 @@ 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 @@ -75,6 +85,7 @@ def generate_launch_description(): joint_state_publisher_node = Node( package="joint_state_publisher_gui", executable="joint_state_publisher_gui", + condition=IfCondition(gui), ) robot_state_publisher_node = Node( package="robot_state_publisher", @@ -88,6 +99,7 @@ def generate_launch_description(): name="rviz2", output="log", arguments=["-d", rviz_config_file], + condition=IfCondition(gui), ) nodes = [ diff --git a/example_3/doc/userdoc.rst b/example_3/doc/userdoc.rst index 09c54362b..4481d854b 100644 --- a/example_3/doc/userdoc.rst +++ b/example_3/doc/userdoc.rst @@ -16,6 +16,8 @@ For *example_3*, the hardware interface plugin is implemented having multiple in Two illegal controllers demonstrate how hardware interface declines faulty claims to access joint command interfaces. +.. include:: ../../doc/run_from_docker.rst + Tutorial steps -------------------------- diff --git a/example_4/bringup/launch/rrbot_system_with_sensor.launch.py b/example_4/bringup/launch/rrbot_system_with_sensor.launch.py index 80db70574..7e78ff092 100644 --- a/example_4/bringup/launch/rrbot_system_with_sensor.launch.py +++ b/example_4/bringup/launch/rrbot_system_with_sensor.launch.py @@ -56,7 +56,7 @@ def generate_launch_description(): ) declared_arguments.append( DeclareLaunchArgument( - "start_rviz", + "gui", default_value="true", description="Start RViz2 automatically with this launch file.", ) @@ -67,7 +67,7 @@ def generate_launch_description(): use_mock_hardware = LaunchConfiguration("use_mock_hardware") mock_sensor_commands = LaunchConfiguration("mock_sensor_commands") slowdown = LaunchConfiguration("slowdown") - start_rviz = LaunchConfiguration("start_rviz") + gui = LaunchConfiguration("gui") # Get URDF via xacro robot_description_content = Command( @@ -126,7 +126,7 @@ def generate_launch_description(): name="rviz2", output="log", arguments=["-d", rviz_config_file], - condition=IfCondition(start_rviz), + condition=IfCondition(gui), ) joint_state_broadcaster_spawner = Node( diff --git a/example_4/description/launch/view_robot.launch.py b/example_4/description/launch/view_robot.launch.py index b8084832a..c72b1579b 100644 --- a/example_4/description/launch/view_robot.launch.py +++ b/example_4/description/launch/view_robot.launch.py @@ -14,6 +14,7 @@ from launch import LaunchDescription from launch.actions import DeclareLaunchArgument +from launch.conditions import IfCondition from launch.substitutions import Command, FindExecutable, LaunchConfiguration, PathJoinSubstitution from launch_ros.actions import Node @@ -38,6 +39,14 @@ def generate_launch_description(): 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( "prefix", @@ -51,6 +60,7 @@ 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 @@ -75,6 +85,7 @@ def generate_launch_description(): joint_state_publisher_node = Node( package="joint_state_publisher_gui", executable="joint_state_publisher_gui", + condition=IfCondition(gui), ) robot_state_publisher_node = Node( package="robot_state_publisher", @@ -88,6 +99,7 @@ def generate_launch_description(): name="rviz2", output="log", arguments=["-d", rviz_config_file], + condition=IfCondition(gui), ) nodes = [ diff --git a/example_4/doc/userdoc.rst b/example_4/doc/userdoc.rst index 1f9d72e47..6c70870f5 100644 --- a/example_4/doc/userdoc.rst +++ b/example_4/doc/userdoc.rst @@ -16,6 +16,7 @@ This example shows how a sensor can be integrated in a hardware interface: A 2D Force-Torque Sensor (FTS) is simulated by generating random sensor readings via a hardware interface of type ``hardware_interface::SystemInterface``. +.. include:: ../../doc/run_from_docker.rst Tutorial steps -------------------------- 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 index 4c963ee8e..1811949c5 100755 --- a/example_5/bringup/launch/rrbot_system_with_external_sensor.launch.py +++ b/example_5/bringup/launch/rrbot_system_with_external_sensor.launch.py @@ -56,7 +56,7 @@ def generate_launch_description(): ) declared_arguments.append( DeclareLaunchArgument( - "start_rviz", + "gui", default_value="true", description="Start RViz2 automatically with this launch file.", ) @@ -67,7 +67,7 @@ def generate_launch_description(): use_mock_hardware = LaunchConfiguration("use_mock_hardware") mock_sensor_commands = LaunchConfiguration("mock_sensor_commands") slowdown = LaunchConfiguration("slowdown") - start_rviz = LaunchConfiguration("start_rviz") + gui = LaunchConfiguration("gui") # Get URDF via xacro robot_description_content = Command( @@ -126,7 +126,7 @@ def generate_launch_description(): name="rviz2", output="log", arguments=["-d", rviz_config_file], - condition=IfCondition(start_rviz), + condition=IfCondition(gui), ) joint_state_broadcaster_spawner = Node( diff --git a/example_5/description/launch/view_robot.launch.py b/example_5/description/launch/view_robot.launch.py index fc954989a..df4cef17b 100644 --- a/example_5/description/launch/view_robot.launch.py +++ b/example_5/description/launch/view_robot.launch.py @@ -14,6 +14,7 @@ from launch import LaunchDescription from launch.actions import DeclareLaunchArgument +from launch.conditions import IfCondition from launch.substitutions import Command, FindExecutable, LaunchConfiguration, PathJoinSubstitution from launch_ros.actions import Node @@ -38,6 +39,14 @@ def generate_launch_description(): 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( "prefix", @@ -51,6 +60,7 @@ 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 @@ -75,6 +85,7 @@ def generate_launch_description(): joint_state_publisher_node = Node( package="joint_state_publisher_gui", executable="joint_state_publisher_gui", + condition=IfCondition(gui), ) robot_state_publisher_node = Node( package="robot_state_publisher", @@ -88,6 +99,7 @@ def generate_launch_description(): name="rviz2", output="log", arguments=["-d", rviz_config_file], + condition=IfCondition(gui), ) nodes = [ diff --git a/example_5/doc/userdoc.rst b/example_5/doc/userdoc.rst index 24bed872a..2e6266f86 100644 --- a/example_5/doc/userdoc.rst +++ b/example_5/doc/userdoc.rst @@ -16,6 +16,8 @@ This example shows how an externally connected sensor can be accessed: A 3D Force-Torque Sensor (FTS) is simulated by generating random sensor readings via a hardware interface of type ``hardware_interface::SensorInterface``. +.. include:: ../../doc/run_from_docker.rst + Tutorial steps -------------------------- diff --git a/example_6/bringup/launch/rrbot_modular_actuators.launch.py b/example_6/bringup/launch/rrbot_modular_actuators.launch.py index 384df6230..c327b19af 100644 --- a/example_6/bringup/launch/rrbot_modular_actuators.launch.py +++ b/example_6/bringup/launch/rrbot_modular_actuators.launch.py @@ -63,7 +63,7 @@ def generate_launch_description(): ) declared_arguments.append( DeclareLaunchArgument( - "start_rviz", + "gui", default_value="true", description="Start RViz2 automatically with this launch file.", ) @@ -75,7 +75,7 @@ def generate_launch_description(): mock_sensor_commands = LaunchConfiguration("mock_sensor_commands") slowdown = LaunchConfiguration("slowdown") robot_controller = LaunchConfiguration("robot_controller") - start_rviz = LaunchConfiguration("start_rviz") + gui = LaunchConfiguration("gui") # Get URDF via xacro robot_description_content = Command( @@ -134,7 +134,7 @@ def generate_launch_description(): name="rviz2", output="log", arguments=["-d", rviz_config_file], - condition=IfCondition(start_rviz), + condition=IfCondition(gui), ) joint_state_broadcaster_spawner = Node( diff --git a/example_6/description/launch/view_robot.launch.py b/example_6/description/launch/view_robot.launch.py index dc6fc976a..1d671d762 100644 --- a/example_6/description/launch/view_robot.launch.py +++ b/example_6/description/launch/view_robot.launch.py @@ -14,6 +14,7 @@ from launch import LaunchDescription from launch.actions import DeclareLaunchArgument +from launch.conditions import IfCondition from launch.substitutions import Command, FindExecutable, LaunchConfiguration, PathJoinSubstitution from launch_ros.actions import Node @@ -38,6 +39,14 @@ def generate_launch_description(): 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( "prefix", @@ -51,6 +60,7 @@ 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 @@ -75,6 +85,7 @@ def generate_launch_description(): joint_state_publisher_node = Node( package="joint_state_publisher_gui", executable="joint_state_publisher_gui", + condition=IfCondition(gui), ) robot_state_publisher_node = Node( package="robot_state_publisher", @@ -88,6 +99,7 @@ def generate_launch_description(): name="rviz2", output="log", arguments=["-d", rviz_config_file], + condition=IfCondition(gui), ) nodes = [ diff --git a/example_6/doc/userdoc.rst b/example_6/doc/userdoc.rst index eb68c85ac..9f6de521d 100644 --- a/example_6/doc/userdoc.rst +++ b/example_6/doc/userdoc.rst @@ -14,6 +14,8 @@ The example shows how to implement robot hardware with separate communication to This is implemented with a hardware interface of type ``hardware_interface::ActuatorInterface``. +.. include:: ../../doc/run_from_docker.rst + Tutorial steps -------------------------- 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 index 6209560bf..d5c00e9d5 100644 --- a/example_8/bringup/launch/rrbot_transmissions_system_position_only.launch.py +++ b/example_8/bringup/launch/rrbot_transmissions_system_position_only.launch.py @@ -48,7 +48,7 @@ def generate_launch_description(): ) declared_arguments.append( DeclareLaunchArgument( - "start_rviz", + "gui", default_value="true", description="Start RViz2 automatically with this launch file.", ) @@ -58,7 +58,7 @@ def generate_launch_description(): prefix = LaunchConfiguration("prefix") slowdown = LaunchConfiguration("slowdown") robot_controller = LaunchConfiguration("robot_controller") - start_rviz = LaunchConfiguration("start_rviz") + gui = LaunchConfiguration("gui") # Get URDF via xacro robot_description_content = Command( @@ -111,7 +111,7 @@ def generate_launch_description(): name="rviz2", output="log", arguments=["-d", rviz_config_file], - condition=IfCondition(start_rviz), + condition=IfCondition(gui), ) joint_state_broadcaster_spawner = Node( diff --git a/example_8/description/launch/view_robot.launch.py b/example_8/description/launch/view_robot.launch.py index bfe1aeaf5..7bac36d9c 100644 --- a/example_8/description/launch/view_robot.launch.py +++ b/example_8/description/launch/view_robot.launch.py @@ -14,6 +14,7 @@ from launch import LaunchDescription from launch.actions import DeclareLaunchArgument +from launch.conditions import IfCondition from launch.substitutions import Command, FindExecutable, LaunchConfiguration, PathJoinSubstitution from launch_ros.actions import Node @@ -38,6 +39,14 @@ def generate_launch_description(): 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( "prefix", @@ -51,6 +60,7 @@ 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 @@ -75,6 +85,7 @@ def generate_launch_description(): joint_state_publisher_node = Node( package="joint_state_publisher_gui", executable="joint_state_publisher_gui", + condition=IfCondition(gui), ) robot_state_publisher_node = Node( package="robot_state_publisher", @@ -88,6 +99,7 @@ def generate_launch_description(): name="rviz2", output="log", arguments=["-d", rviz_config_file], + condition=IfCondition(gui), ) nodes = [ diff --git a/example_8/doc/userdoc.rst b/example_8/doc/userdoc.rst index 1ee54668e..e417a2dca 100644 --- a/example_8/doc/userdoc.rst +++ b/example_8/doc/userdoc.rst @@ -13,6 +13,8 @@ In this example, both joints use an exposed transmission interface: * The communication is done using proprietary API to communicate with the robot control box. * Data for all joints is exchanged at once. +.. include:: ../../doc/run_from_docker.rst + Tutorial steps -------------------------- diff --git a/example_9/bringup/launch/rrbot.launch.py b/example_9/bringup/launch/rrbot.launch.py index bf70947c6..aa8ca9134 100644 --- a/example_9/bringup/launch/rrbot.launch.py +++ b/example_9/bringup/launch/rrbot.launch.py @@ -14,15 +14,30 @@ from launch import LaunchDescription -from launch.actions import RegisterEventHandler +from launch.actions import DeclareLaunchArgument, RegisterEventHandler +from launch.conditions import IfCondition from launch.event_handlers import OnProcessExit -from launch.substitutions import Command, FindExecutable, PathJoinSubstitution +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.", + ) + ) + + # Initialize Arguments + gui = LaunchConfiguration("gui") + # Get URDF via xacro robot_description_content = Command( [ @@ -68,6 +83,7 @@ def generate_launch_description(): name="rviz2", output="log", arguments=["-d", rviz_config_file], + condition=IfCondition(gui), ) joint_state_broadcaster_spawner = Node( @@ -106,4 +122,4 @@ def generate_launch_description(): delay_robot_controller_spawner_after_joint_state_broadcaster_spawner, ] - return LaunchDescription(nodes) + return LaunchDescription(declared_arguments + nodes) diff --git a/example_9/bringup/launch/rrbot_gazebo_classic.launch.py b/example_9/bringup/launch/rrbot_gazebo_classic.launch.py index dd18a3e5f..4b9362154 100644 --- a/example_9/bringup/launch/rrbot_gazebo_classic.launch.py +++ b/example_9/bringup/launch/rrbot_gazebo_classic.launch.py @@ -13,14 +13,29 @@ # limitations under the License. from launch import LaunchDescription -from launch.actions import IncludeLaunchDescription +from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription +from launch.conditions import IfCondition from launch.launch_description_sources import PythonLaunchDescriptionSource -from launch.substitutions import Command, FindExecutable, PathJoinSubstitution +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="false", + description="Start RViz2 automatically with this launch file.", + ) + ) + + # Initialize Arguments + gui = LaunchConfiguration("gui") + gazebo = IncludeLaunchDescription( PythonLaunchDescriptionSource( [PathJoinSubstitution([FindPackageShare("gazebo_ros"), "launch", "gazebo.launch.py"])] @@ -41,6 +56,9 @@ def generate_launch_description(): ] ) robot_description = {"robot_description": robot_description_content} + rviz_config_file = PathJoinSubstitution( + [FindPackageShare("ros2_control_demo_example_9"), "rviz", "rrbot.rviz"] + ) node_robot_state_publisher = Node( package="robot_state_publisher", @@ -67,13 +85,22 @@ def generate_launch_description(): executable="spawner", arguments=["forward_position_controller", "--controller-manager", "/controller_manager"], ) - - return LaunchDescription( - [ - gazebo, - node_robot_state_publisher, - spawn_entity, - joint_state_broadcaster_spawner, - robot_controller_spawner, - ] + rviz_node = Node( + package="rviz2", + executable="rviz2", + name="rviz2", + output="log", + arguments=["-d", rviz_config_file], + condition=IfCondition(gui), ) + + nodes = [ + gazebo, + node_robot_state_publisher, + spawn_entity, + joint_state_broadcaster_spawner, + robot_controller_spawner, + rviz_node, + ] + + return LaunchDescription(declared_arguments + nodes) diff --git a/example_9/description/launch/view_robot.launch.py b/example_9/description/launch/view_robot.launch.py index 14cd2edab..00e6ff0c4 100644 --- a/example_9/description/launch/view_robot.launch.py +++ b/example_9/description/launch/view_robot.launch.py @@ -14,6 +14,7 @@ from launch import LaunchDescription from launch.actions import DeclareLaunchArgument +from launch.conditions import IfCondition from launch.substitutions import Command, FindExecutable, LaunchConfiguration, PathJoinSubstitution from launch_ros.actions import Node @@ -38,6 +39,14 @@ def generate_launch_description(): 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( "prefix", @@ -51,6 +60,7 @@ 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 @@ -75,6 +85,7 @@ def generate_launch_description(): joint_state_publisher_node = Node( package="joint_state_publisher_gui", executable="joint_state_publisher_gui", + condition=IfCondition(gui), ) robot_state_publisher_node = Node( package="robot_state_publisher", @@ -88,6 +99,7 @@ def generate_launch_description(): name="rviz2", output="log", arguments=["-d", rviz_config_file], + condition=IfCondition(gui), ) nodes = [ diff --git a/example_9/doc/userdoc.rst b/example_9/doc/userdoc.rst index d8dfc24f9..915067350 100644 --- a/example_9/doc/userdoc.rst +++ b/example_9/doc/userdoc.rst @@ -6,7 +6,34 @@ Example 9: Simulation with RRBot ================================= With *example_9*, we demonstrate the interaction of simulators with ros2_control. More specifically, -Gazebo Classic is used for this purpose. For details on the ``gazebo_ros2_control`` plugin, see :ref:`gazebo_ros2_control`. +Gazebo Classic is used for this purpose. + +.. note:: + + Follow the installation instructions on :ref:`ros2_control_demos_install` how to install all dependencies, + Gazebo Classic should be automatically installed. + + * If you have installed and compiled this repository locally, you can directly use the commands below. + * If you have installed it via the provided docker image: To run the first two steps of this example (without Gazebo Classic), use the commands as described with :ref:`ros2_control_demos_install`. To run the later steps using Gazebo Classic, execute + + .. code:: + + docker run -it --rm --name ros2_control_demos --net host ros2_control_demos ros2 launch ros2_control_demo_example_9 rrbot_gazebo_classic.launch.py gui:=false + + first. Then on your local machine you can run the Gazebo Classic client with + + .. code-block:: shell + + gzclient + + and/or ``rviz2`` with + + .. code-block:: shell + + rviz2 -d src/ros2_control_demos/example_9/description/rviz/rrbot.rviz + + + For details on the ``gazebo_ros2_control`` plugin, see :ref:`gazebo_ros2_control`. Tutorial steps -------------------------- From ae0a7d3154ab5c5e5570ff23503418ce8b35c133 Mon Sep 17 00:00:00 2001 From: "mergify[bot]" <37929162+mergify[bot]@users.noreply.github.com> Date: Thu, 29 Jun 2023 22:14:25 +0200 Subject: [PATCH 17/36] Touchup Dockerfile and create a workflow building it (backport #323) (#324) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Co-authored-by: Christoph Fröhlich Co-authored-by: Christoph Froehlich --- .github/workflows/humble-docker-build.yaml | 22 ++++++++++++++++++++++ Dockerfile/Dockerfile | 16 +++++++++++++--- 2 files changed, 35 insertions(+), 3 deletions(-) create mode 100644 .github/workflows/humble-docker-build.yaml diff --git a/.github/workflows/humble-docker-build.yaml b/.github/workflows/humble-docker-build.yaml new file mode 100644 index 000000000..be2f12c47 --- /dev/null +++ b/.github/workflows/humble-docker-build.yaml @@ -0,0 +1,22 @@ +name: Build Humble Dockerfile +# description: builds the dockerfile contained within the repo + +on: + pull_request: + branches: + - humble + push: + branches: + - humble + schedule: + # Run every morning to detect broken dependencies + - cron: '40 1 * * *' + + +jobs: + build: + runs-on: ubuntu-latest + steps: + - uses: actions/checkout@v3 + - name: Build the Docker image + run: docker build . --file Dockerfile/Dockerfile --tag ros2_control_demos_humble diff --git a/Dockerfile/Dockerfile b/Dockerfile/Dockerfile index 59ae934c4..74e982e71 100644 --- a/Dockerfile/Dockerfile +++ b/Dockerfile/Dockerfile @@ -5,13 +5,23 @@ FROM ros:${ROS_DISTRO}-ros-base ENV DEBIAN_FRONTEND noninteractive RUN apt-get update \ - && apt-get upgrade -y + && apt-get upgrade -y \ + && \ + : "remove cache" && \ + apt-get autoremove -y -qq && \ + rm -rf /var/lib/apt/lists/* COPY . /home/ros2_ws/src/ros2_control_demos RUN cd /home/ros2_ws/src \ - && rosdep update \ - && rosdep install --from-paths ./ -i -y --rosdistro ${ROS_DISTRO} --skip-keys rviz2 + && rosdep update --rosdistro ${ROS_DISTRO} \ + && apt-get update \ + && rosdep install --from-paths ./ -i -y --rosdistro ${ROS_DISTRO} \ + --skip-keys ros-${ROS_DISTRO}-joint-state-publisher-gui --skip-keys ros-${ROS_DISTRO}-rviz2\ + && \ + : "remove cache" && \ + apt-get autoremove -y -qq && \ + rm -rf /var/lib/apt/lists/* RUN cd /home/ros2_ws/ \ && . /opt/ros/${ROS_DISTRO}/setup.sh \ From 051ad6fdf531600cd7f2d82051879e6847cd3901 Mon Sep 17 00:00:00 2001 From: "mergify[bot]" <37929162+mergify[bot]@users.noreply.github.com> Date: Sun, 9 Jul 2023 20:08:20 +0200 Subject: [PATCH 18/36] Fix typo in docker description (#325) (#326) (cherry picked from commit 36b3a5f332daa730b137e3b5c88eeb302135ea6a) Co-authored-by: maurice --- doc/index.rst | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/doc/index.rst b/doc/index.rst index 1d8122187..35330423c 100644 --- a/doc/index.rst +++ b/doc/index.rst @@ -172,7 +172,7 @@ Then we are ready to bring up all the components to view the robot. Let's start .. code-block:: shell - docker run -it --rm --name ros2_control_demos --net host ros2_control_demos ros2 launch ros2_control_demos_example_1 view_robot.launch.py gui:=false + docker run -it --rm --name ros2_control_demos --net host ros2_control_demos ros2 launch ros2_control_demo_example_1 view_robot.launch.py gui:=false .. note:: From 83eaa4f89c142ff862f50af1f13f91c4aacaf845 Mon Sep 17 00:00:00 2001 From: "mergify[bot]" <37929162+mergify[bot]@users.noreply.github.com> Date: Fri, 4 Aug 2023 10:17:36 +0200 Subject: [PATCH 19/36] [Example 7] Full example for 6 revolute joint robot (#201) (#333) This change adds an minimal example to control a custom 6 DOF robot with ros2_control. The README acts as a tutorial for intermediate ROS 2 users. --------- Co-authored-by: Christoph Froehlich (cherry picked from commit 09b357aaec736bd5620c36125b3f26b3754b596b) Co-authored-by: Paul Gesel --- README.md | 18 +- doc/index.rst | 20 +- example_7/CMakeLists.txt | 109 ++++ example_7/README.md | 12 + .../bringup/config/r6bot_controller.yaml | 28 + .../bringup/launch/r6bot_controller.launch.py | 114 ++++ .../bringup/launch/send_trajectory.launch.py | 46 ++ .../r6bot_controller.hpp | 122 ++++ example_7/controller/r6bot_controller.cpp | 204 +++++++ .../description/launch/view_r6bot.launch.py | 84 +++ .../description/meshes/collision/link_0.stl | Bin 0 -> 54384 bytes .../description/meshes/collision/link_1.stl | Bin 0 -> 83984 bytes .../description/meshes/collision/link_2.stl | Bin 0 -> 541984 bytes .../description/meshes/collision/link_3.stl | Bin 0 -> 431684 bytes .../description/meshes/collision/link_4.stl | Bin 0 -> 103784 bytes .../description/meshes/collision/link_5.stl | Bin 0 -> 98184 bytes .../description/meshes/collision/link_6.stl | Bin 0 -> 165834 bytes .../description/meshes/visual/link_0.dae | 92 +++ .../description/meshes/visual/link_1.dae | 92 +++ .../description/meshes/visual/link_2.dae | 133 ++++ .../description/meshes/visual/link_3.dae | 92 +++ .../description/meshes/visual/link_4.dae | 92 +++ .../description/meshes/visual/link_5.dae | 92 +++ .../description/meshes/visual/link_6.dae | 92 +++ .../ros2_control/r6bot.ros2_control.xacro | 115 ++++ example_7/description/rviz/view_robot.rviz | 253 ++++++++ example_7/description/srdf/r6bot.srdf | 23 + .../description/urdf/inc/create_link.xacro | 29 + example_7/description/urdf/r6bot.urdf.xacro | 142 +++++ example_7/doc/resources/link_1.png | Bin 0 -> 34628 bytes example_7/doc/resources/link_2.png | Bin 0 -> 38865 bytes example_7/doc/resources/link_2_aligned.png | Bin 0 -> 59917 bytes example_7/doc/resources/link_2_roll.png | Bin 0 -> 57818 bytes example_7/doc/resources/link_2_roll_yaw.png | Bin 0 -> 59009 bytes .../doc/resources/link_2_roll_yaw_trans.png | Bin 0 -> 76338 bytes example_7/doc/resources/robot.png | Bin 0 -> 89211 bytes example_7/doc/resources/trajectory.gif | Bin 0 -> 674663 bytes example_7/doc/userdoc.rst | 573 ++++++++++++++++++ .../r6bot_hardware.hpp | 62 ++ example_7/hardware/r6bot_hardware.cpp | 129 ++++ example_7/package.xml | 44 ++ .../reference_generator/send_trajectory.cpp | 105 ++++ example_7/ros2_control_demo_example_7.xml | 16 + 43 files changed, 2918 insertions(+), 15 deletions(-) create mode 100644 example_7/CMakeLists.txt create mode 100644 example_7/README.md create mode 100644 example_7/bringup/config/r6bot_controller.yaml create mode 100644 example_7/bringup/launch/r6bot_controller.launch.py create mode 100644 example_7/bringup/launch/send_trajectory.launch.py create mode 100644 example_7/controller/include/ros2_control_demo_example_7/r6bot_controller.hpp create mode 100644 example_7/controller/r6bot_controller.cpp create mode 100644 example_7/description/launch/view_r6bot.launch.py create mode 100644 example_7/description/meshes/collision/link_0.stl create mode 100644 example_7/description/meshes/collision/link_1.stl create mode 100644 example_7/description/meshes/collision/link_2.stl create mode 100644 example_7/description/meshes/collision/link_3.stl create mode 100644 example_7/description/meshes/collision/link_4.stl create mode 100644 example_7/description/meshes/collision/link_5.stl create mode 100644 example_7/description/meshes/collision/link_6.stl create mode 100644 example_7/description/meshes/visual/link_0.dae create mode 100644 example_7/description/meshes/visual/link_1.dae create mode 100644 example_7/description/meshes/visual/link_2.dae create mode 100644 example_7/description/meshes/visual/link_3.dae create mode 100644 example_7/description/meshes/visual/link_4.dae create mode 100644 example_7/description/meshes/visual/link_5.dae create mode 100644 example_7/description/meshes/visual/link_6.dae create mode 100644 example_7/description/ros2_control/r6bot.ros2_control.xacro create mode 100644 example_7/description/rviz/view_robot.rviz create mode 100644 example_7/description/srdf/r6bot.srdf create mode 100644 example_7/description/urdf/inc/create_link.xacro create mode 100644 example_7/description/urdf/r6bot.urdf.xacro create mode 100644 example_7/doc/resources/link_1.png create mode 100644 example_7/doc/resources/link_2.png create mode 100644 example_7/doc/resources/link_2_aligned.png create mode 100644 example_7/doc/resources/link_2_roll.png create mode 100644 example_7/doc/resources/link_2_roll_yaw.png create mode 100644 example_7/doc/resources/link_2_roll_yaw_trans.png create mode 100644 example_7/doc/resources/robot.png create mode 100644 example_7/doc/resources/trajectory.gif create mode 100644 example_7/doc/userdoc.rst create mode 100644 example_7/hardware/include/ros2_control_demo_example_7/r6bot_hardware.hpp create mode 100644 example_7/hardware/r6bot_hardware.cpp create mode 100644 example_7/package.xml create mode 100644 example_7/reference_generator/send_trajectory.cpp create mode 100644 example_7/ros2_control_demo_example_7.xml diff --git a/README.md b/README.md index 83b6ff9da..bfb7b9573 100644 --- a/README.md +++ b/README.md @@ -32,24 +32,34 @@ The following examples are part of this demo repository: *RRBot* with an integrated sensor. -* Example 5: ["Industrial Robots with externally connected sensor"](example_5) +* Example 5: ["Industrial robots with externally connected sensor"](example_5) *RRBot* with an externally connected sensor. -* Example 6: ["Modular Robots with separate communication to each actuator"](example_6) +* Example 6: ["Modular robots with separate communication to each actuator"](example_6) The example shows how to implement robot hardware with separate communication to each actuator. -* Example 7: "Multi-robot example (tba.)" +* Example 7: ["6-DOF robot"](example_7) + + A full tutorial for a 6 DOF robot for intermediate ROS 2 users. * Example 8: ["Using transmissions"](example_8) *RRBot* with an exposed transmission interface. -* Example 9: ["Gazebo Classic Simulation"](example_9) +* Example 9: ["Gazebo classic simulation"](example_9) Demonstrates how to switch between simulation and hardware. +* Example 10: "RRbot with GPIO interfaces (tba.)" + +* Example 11: "Car-like robot using steering controller library (tba.)" + +* Example 12: "Controller chaining example (tba.)" + +* Example 13: "Multi-robot example (tba.)" + ## Getting started The repository is structured into `example_XY` folders that fully contained packages with names `ros2_control_demos_example_XY`. diff --git a/doc/index.rst b/doc/index.rst index 35330423c..f081dbc84 100644 --- a/doc/index.rst +++ b/doc/index.rst @@ -7,7 +7,7 @@ Demos ################# This `GitHub Repository `_ -provides templates for the development of ros2_control-enabled robots and a simple simulations to demonstrate and prove ros2_control concepts. +provides templates for the development of ``ros2_control``-enabled robots and simple simulations to demonstrate and prove ``ros2_control`` concepts. If you want to have a rather step by step manual how to do things with ``ros2_control`` checkout `ros-control/roscon2022_workshop `_ repository. @@ -22,6 +22,7 @@ This repository demonstrates the following ``ros2_control`` concepts: * Loading the configuration and starting a robot using launch files. * Control of a differential mobile base *DiffBot*. * Control of two joints of *RRBot*. + * Control of a 6-degrees-of-freedom robot. * Implementing a controller switching strategy for a robot. * Using joint limits and transmission concepts in ``ros2_control``. @@ -35,38 +36,34 @@ The repository has two other goals: 2. The repository is a validation environment for ``ros2_control`` concepts, which can only be tested during run-time (e.g., execution of controllers by the controller manager, communication between robot hardware and controllers). ===================== -Example Overview +Examples Overview ===================== Example 1: RRBot *RRBot* - or ''Revolute-Revolute Manipulator Robot'' - a simple position controlled robot with one hardware interface. This example also demonstrates the switching between different controllers. - Example 2: DiffBot *DiffBot*, or ''Differential Mobile Robot'', is a simple mobile base with differential drive. The robot is basically a box moving according to differential drive kinematics. - Example 3: "RRBot with multiple interfaces" *RRBot* with multiple interfaces. - Example 4: "Industrial robot with integrated sensor" *RRBot* with an integrated sensor. - Example 5: "Industrial Robots with externally connected sensor" *RRBot* with an externally connected sensor. - Example 6: "Modular Robots with separate communication to each actuator" The example shows how to implement robot hardware with separate communication to each actuator. +Example 7: "6-DOF robot" + A full tutorial for a 6 DOF robot for intermediate ROS 2 users. Example 8: "Using transmissions" *RRBot* with an exposed transmission interface. - Example 9: "Gazebo Classic" Demonstrates how to switch between simulation and hardware. @@ -252,7 +249,8 @@ Examples Example 2: DiffBot <../example_2/doc/userdoc.rst> Example 3: RRBot with multiple interfaces <../example_3/doc/userdoc.rst> Example 4: Industrial robot with integrated sensor <../example_4/doc/userdoc.rst> - Example 5: Industrial Robots with externally connected sensor <../example_5/doc/userdoc.rst> - Example 6: Modular Robots with separate communication to each actuator <../example_6/doc/userdoc.rst> + Example 5: Industrial robots with externally connected sensor <../example_5/doc/userdoc.rst> + Example 6: Modular robots with separate communication to each actuator <../example_6/doc/userdoc.rst> + Example 7: Full tutorial with a 6DOF robot <../example_7/doc/userdoc.rst> Example 8: Using transmissions <../example_8/doc/userdoc.rst> - Example 9: Gazebo Classic <../example_9/doc/userdoc.rst> + Example 9: Gazebo classic <../example_9/doc/userdoc.rst> diff --git a/example_7/CMakeLists.txt b/example_7/CMakeLists.txt new file mode 100644 index 000000000..159c43fda --- /dev/null +++ b/example_7/CMakeLists.txt @@ -0,0 +1,109 @@ +cmake_minimum_required(VERSION 3.16) +project(ros2_control_demo_example_7 LANGUAGES CXX) + +if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)") + add_compile_options(-Wall -Wextra) +endif() + +# find dependencies +set(HW_IF_INCLUDE_DEPENDS + pluginlib + rcpputils + hardware_interface +) +set(REF_GEN_INCLUDE_DEPENDS + kdl_parser + rclcpp + trajectory_msgs +) +set(CONTROLLER_INCLUDE_DEPENDS + pluginlib + rcpputils + controller_interface + realtime_tools + trajectory_msgs +) + +# find dependencies +find_package(ament_cmake REQUIRED) +foreach(Dependency IN ITEMS ${HW_IF_INCLUDE_DEPENDS}) + find_package(${Dependency} REQUIRED) +endforeach() +foreach(Dependency IN ITEMS ${REF_GEN_INCLUDE_DEPENDS}) + find_package(${Dependency} REQUIRED) +endforeach() +foreach(Dependency IN ITEMS ${CONTROLLER_INCLUDE_DEPENDS}) + find_package(${Dependency} REQUIRED) +endforeach() + + +## COMPILE +add_executable(send_trajectory reference_generator/send_trajectory.cpp) + +ament_target_dependencies( + send_trajectory PUBLIC + ${REF_GEN_INCLUDE_DEPENDS} +) + +add_library( + ros2_control_demo_example_7 + SHARED + hardware/r6bot_hardware.cpp + controller/r6bot_controller.cpp +) + +target_compile_features(ros2_control_demo_example_7 PUBLIC cxx_std_17) +target_include_directories(ros2_control_demo_example_7 PUBLIC +$ +$ +$ +) +ament_target_dependencies( + ros2_control_demo_example_7 PUBLIC + ${HW_IF_INCLUDE_DEPENDS} + ${CONTROLLER_INCLUDE_DEPENDS} +) + +# Causes the visibility macros to use dllexport rather than dllimport, +# which is appropriate when building the dll but not consuming it. +target_compile_definitions(${PROJECT_NAME} PRIVATE "ROS2_CONTROL_DEMO_EXAMPLE_7_BUILDING_DLL") + +# Export hardware plugins +pluginlib_export_plugin_description_file(hardware_interface ros2_control_demo_example_7.xml) +# Export controller plugins +pluginlib_export_plugin_description_file(controller_interface ros2_control_demo_example_7.xml) + +# INSTALL +install( + DIRECTORY hardware/include/ + DESTINATION include/ros2_control_demo_example_7 +) +install( + DIRECTORY description/launch description/ros2_control description/urdf description/rviz description/srdf description/meshes + DESTINATION share/ros2_control_demo_example_7 +) +install( + DIRECTORY bringup/launch bringup/config + DESTINATION share/ros2_control_demo_example_7 +) + +install( + TARGETS send_trajectory + RUNTIME DESTINATION lib/ros2_control_demo_example_7 +) + +install(TARGETS ros2_control_demo_example_7 + EXPORT export_ros2_control_demo_example_7 + ARCHIVE DESTINATION lib + LIBRARY DESTINATION lib + RUNTIME DESTINATION bin +) + +if(BUILD_TESTING) + find_package(ament_cmake_gtest REQUIRED) +endif() + +## EXPORTS +ament_export_targets(export_ros2_control_demo_example_7 HAS_LIBRARY_TARGET) +ament_export_dependencies(${HW_IF_INCLUDE_DEPENDS} ${REF_GEN_INCLUDE_DEPENDS} ${CONTROLLER_INCLUDE_DEPENDS}) +ament_package() diff --git a/example_7/README.md b/example_7/README.md new file mode 100644 index 000000000..40056c3eb --- /dev/null +++ b/example_7/README.md @@ -0,0 +1,12 @@ +# ros2_control_demo_example_7 + +A full tutorial for a 6 DOF robot for intermediate ROS 2 users. + +It consists of the following: +* bringup: launch files and ros2_controller configuration +* controller: a controller for the 6-DOF robot +* description: the 6-DOF robot description +* hardware: ros2_control hardware interface +* reference_generator: A KDL-based reference generator for a fixed trajectory + +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_7/doc/userdoc.html). diff --git a/example_7/bringup/config/r6bot_controller.yaml b/example_7/bringup/config/r6bot_controller.yaml new file mode 100644 index 000000000..222d00a84 --- /dev/null +++ b/example_7/bringup/config/r6bot_controller.yaml @@ -0,0 +1,28 @@ +controller_manager: + ros__parameters: + update_rate: 10 # Hz + + joint_state_broadcaster: + type: joint_state_broadcaster/JointStateBroadcaster + + r6bot_controller: + type: ros2_control_demo_example_7/RobotController + + +r6bot_controller: + ros__parameters: + joints: + - joint_1 + - joint_2 + - joint_3 + - joint_4 + - joint_5 + - joint_6 + + command_interfaces: + - position + - velocity + + state_interfaces: + - position + - velocity diff --git a/example_7/bringup/launch/r6bot_controller.launch.py b/example_7/bringup/launch/r6bot_controller.launch.py new file mode 100644 index 000000000..f32dae1f4 --- /dev/null +++ b/example_7/bringup/launch/r6bot_controller.launch.py @@ -0,0 +1,114 @@ +# Copyright 2023 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 RegisterEventHandler +from launch.event_handlers import OnProcessExit +from launch.substitutions import Command, FindExecutable, PathJoinSubstitution + +from launch_ros.actions import Node +from launch_ros.substitutions import FindPackageShare + + +def generate_launch_description(): + # Get URDF via xacro + robot_description_content = Command( + [ + PathJoinSubstitution([FindExecutable(name="xacro")]), + " ", + PathJoinSubstitution( + [ + FindPackageShare("ros2_control_demo_example_7"), + "urdf", + "r6bot.urdf.xacro", + ] + ), + ] + ) + robot_description = {"robot_description": robot_description_content} + + robot_controllers = PathJoinSubstitution( + [ + FindPackageShare("ros2_control_demo_example_7"), + "config", + "r6bot_controller.yaml", + ] + ) + rviz_config_file = PathJoinSubstitution( + [FindPackageShare("ros2_control_demo_example_7"), "rviz", "view_robot.rviz"] + ) + + control_node = Node( + package="controller_manager", + executable="ros2_control_node", + parameters=[robot_description, robot_controllers], + remappings=[ + ( + "/forward_position_controller/commands", + "/position_commands", + ), + ], + output="both", + ) + robot_state_pub_node = Node( + package="robot_state_publisher", + executable="robot_state_publisher", + output="both", + parameters=[robot_description], + ) + rviz_node = Node( + package="rviz2", + executable="rviz2", + name="rviz2", + output="log", + arguments=["-d", rviz_config_file], + ) + + 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=["r6bot_controller", "-c", "/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(nodes) diff --git a/example_7/bringup/launch/send_trajectory.launch.py b/example_7/bringup/launch/send_trajectory.launch.py new file mode 100644 index 000000000..3d37ec8a0 --- /dev/null +++ b/example_7/bringup/launch/send_trajectory.launch.py @@ -0,0 +1,46 @@ +# Copyright 2023 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.substitutions import Command, FindExecutable, PathJoinSubstitution +from launch_ros.actions import Node +from launch_ros.substitutions import FindPackageShare + + +def generate_launch_description(): + # Get URDF via xacro + robot_description_content = Command( + [ + PathJoinSubstitution([FindExecutable(name="xacro")]), + " ", + PathJoinSubstitution( + [ + FindPackageShare("ros2_control_demo_example_7"), + "urdf", + "r6bot.urdf.xacro", + ] + ), + ] + ) + robot_description = {"robot_description": robot_description_content} + + send_trajectory_node = Node( + package="ros2_control_demo_example_7", + executable="send_trajectory", + name="send_trajectory_node", + parameters=[robot_description], + ) + + nodes_to_start = [send_trajectory_node] + return LaunchDescription(nodes_to_start) diff --git a/example_7/controller/include/ros2_control_demo_example_7/r6bot_controller.hpp b/example_7/controller/include/ros2_control_demo_example_7/r6bot_controller.hpp new file mode 100644 index 000000000..b01cd9592 --- /dev/null +++ b/example_7/controller/include/ros2_control_demo_example_7/r6bot_controller.hpp @@ -0,0 +1,122 @@ +// Copyright 2023 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. + +#ifndef ROS2_CONTROL_DEMO_EXAMPLE_7__R6BOT_CONTROLLER_HPP_ +#define ROS2_CONTROL_DEMO_EXAMPLE_7__R6BOT_CONTROLLER_HPP_ + +#include +#include +#include +#include +#include +#include +#include + +#include "control_msgs/action/follow_joint_trajectory.hpp" +#include "control_msgs/msg/joint_trajectory_controller_state.hpp" +#include "controller_interface/controller_interface.hpp" +#include "hardware_interface/types/hardware_interface_type_values.hpp" +#include "rclcpp/duration.hpp" +#include "rclcpp/subscription.hpp" +#include "rclcpp/time.hpp" +#include "rclcpp/timer.hpp" +#include "rclcpp_lifecycle/lifecycle_publisher.hpp" +#include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp" +#include "realtime_tools/realtime_buffer.h" +#include "trajectory_msgs/msg/joint_trajectory.hpp" +#include "trajectory_msgs/msg/joint_trajectory_point.hpp" + +namespace ros2_control_demo_example_7 +{ +class RobotController : public controller_interface::ControllerInterface +{ +public: + CONTROLLER_INTERFACE_PUBLIC + RobotController(); + + CONTROLLER_INTERFACE_PUBLIC + controller_interface::InterfaceConfiguration command_interface_configuration() const override; + + CONTROLLER_INTERFACE_PUBLIC + controller_interface::InterfaceConfiguration state_interface_configuration() const override; + + CONTROLLER_INTERFACE_PUBLIC + controller_interface::return_type update( + const rclcpp::Time & time, const rclcpp::Duration & period) override; + + CONTROLLER_INTERFACE_PUBLIC + controller_interface::CallbackReturn on_init() override; + + CONTROLLER_INTERFACE_PUBLIC + controller_interface::CallbackReturn on_configure( + const rclcpp_lifecycle::State & previous_state) override; + + CONTROLLER_INTERFACE_PUBLIC + controller_interface::CallbackReturn on_activate( + const rclcpp_lifecycle::State & previous_state) override; + + CONTROLLER_INTERFACE_PUBLIC + controller_interface::CallbackReturn on_deactivate( + const rclcpp_lifecycle::State & previous_state) override; + + CONTROLLER_INTERFACE_PUBLIC + controller_interface::CallbackReturn on_cleanup( + const rclcpp_lifecycle::State & previous_state) override; + + CONTROLLER_INTERFACE_PUBLIC + controller_interface::CallbackReturn on_error( + const rclcpp_lifecycle::State & previous_state) override; + + CONTROLLER_INTERFACE_PUBLIC + controller_interface::CallbackReturn on_shutdown( + const rclcpp_lifecycle::State & previous_state) override; + +protected: + std::vector joint_names_; + std::vector command_interface_types_; + std::vector state_interface_types_; + + rclcpp::Subscription::SharedPtr joint_command_subscriber_; + realtime_tools::RealtimeBuffer> + traj_msg_external_point_ptr_; + bool new_msg_ = false; + rclcpp::Time start_time_; + std::shared_ptr trajectory_msg_; + trajectory_msgs::msg::JointTrajectoryPoint point_interp_; + + std::vector> + joint_position_command_interface_; + std::vector> + joint_velocity_command_interface_; + std::vector> + joint_position_state_interface_; + std::vector> + joint_velocity_state_interface_; + + std::unordered_map< + std::string, std::vector> *> + command_interface_map_ = { + {"position", &joint_position_command_interface_}, + {"velocity", &joint_velocity_command_interface_}}; + + std::unordered_map< + std::string, std::vector> *> + state_interface_map_ = { + {"position", &joint_position_state_interface_}, + {"velocity", &joint_velocity_state_interface_}}; +}; + +} // namespace ros2_control_demo_example_7 + +#endif // ROS2_CONTROL_DEMO_EXAMPLE_7__R6BOT_CONTROLLER_HPP_ diff --git a/example_7/controller/r6bot_controller.cpp b/example_7/controller/r6bot_controller.cpp new file mode 100644 index 000000000..9d5862262 --- /dev/null +++ b/example_7/controller/r6bot_controller.cpp @@ -0,0 +1,204 @@ +// Copyright 2023 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. + +#include "ros2_control_demo_example_7/r6bot_controller.hpp" + +#include +#include +#include +#include +#include + +#include "rclcpp/qos.hpp" +#include "rclcpp/time.hpp" +#include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp" +#include "rclcpp_lifecycle/state.hpp" + +using config_type = controller_interface::interface_configuration_type; + +namespace ros2_control_demo_example_7 +{ +RobotController::RobotController() : controller_interface::ControllerInterface() {} + +controller_interface::CallbackReturn RobotController::on_init() +{ + // should have error handling + joint_names_ = auto_declare>("joints", joint_names_); + command_interface_types_ = + auto_declare>("command_interfaces", command_interface_types_); + state_interface_types_ = + auto_declare>("state_interfaces", state_interface_types_); + + point_interp_.positions.assign(joint_names_.size(), 0); + point_interp_.velocities.assign(joint_names_.size(), 0); + + return CallbackReturn::SUCCESS; +} + +controller_interface::InterfaceConfiguration RobotController::command_interface_configuration() + const +{ + controller_interface::InterfaceConfiguration conf = {config_type::INDIVIDUAL, {}}; + + conf.names.reserve(joint_names_.size() * command_interface_types_.size()); + for (const auto & joint_name : joint_names_) + { + for (const auto & interface_type : command_interface_types_) + { + conf.names.push_back(joint_name + "/" + interface_type); + } + } + + return conf; +} + +controller_interface::InterfaceConfiguration RobotController::state_interface_configuration() const +{ + controller_interface::InterfaceConfiguration conf = {config_type::INDIVIDUAL, {}}; + + conf.names.reserve(joint_names_.size() * state_interface_types_.size()); + for (const auto & joint_name : joint_names_) + { + for (const auto & interface_type : state_interface_types_) + { + conf.names.push_back(joint_name + "/" + interface_type); + } + } + + return conf; +} + +controller_interface::CallbackReturn RobotController::on_configure(const rclcpp_lifecycle::State &) +{ + auto callback = + [this](const std::shared_ptr traj_msg) -> void + { + traj_msg_external_point_ptr_.writeFromNonRT(traj_msg); + new_msg_ = true; + }; + + joint_command_subscriber_ = + get_node()->create_subscription( + "~/joint_trajectory", rclcpp::SystemDefaultsQoS(), callback); + + return CallbackReturn::SUCCESS; +} + +controller_interface::CallbackReturn RobotController::on_activate(const rclcpp_lifecycle::State &) +{ + // clear out vectors in case of restart + joint_position_command_interface_.clear(); + joint_velocity_command_interface_.clear(); + joint_position_state_interface_.clear(); + joint_velocity_state_interface_.clear(); + + // assign command interfaces + for (auto & interface : command_interfaces_) + { + command_interface_map_[interface.get_interface_name()]->push_back(interface); + } + + // assign state interfaces + for (auto & interface : state_interfaces_) + { + state_interface_map_[interface.get_interface_name()]->push_back(interface); + } + + return CallbackReturn::SUCCESS; +} + +void interpolate_point( + const trajectory_msgs::msg::JointTrajectoryPoint & point_1, + const trajectory_msgs::msg::JointTrajectoryPoint & point_2, + trajectory_msgs::msg::JointTrajectoryPoint & point_interp, double delta) +{ + for (size_t i = 0; i < point_1.positions.size(); i++) + { + point_interp.positions[i] = delta * point_2.positions[i] + (1.0 - delta) * point_2.positions[i]; + } + for (size_t i = 0; i < point_1.positions.size(); i++) + { + point_interp.velocities[i] = + delta * point_2.velocities[i] + (1.0 - delta) * point_2.velocities[i]; + } +} + +void interpolate_trajectory_point( + const trajectory_msgs::msg::JointTrajectory & traj_msg, const rclcpp::Duration & cur_time, + trajectory_msgs::msg::JointTrajectoryPoint & point_interp) +{ + double traj_len = traj_msg.points.size(); + auto last_time = traj_msg.points[traj_len - 1].time_from_start; + double total_time = last_time.sec + last_time.nanosec * 1E-9; + + size_t ind = cur_time.seconds() * (traj_len / total_time); + ind = std::min(static_cast(ind), traj_len - 2); + double delta = cur_time.seconds() - ind * (total_time / traj_len); + interpolate_point(traj_msg.points[ind], traj_msg.points[ind + 1], point_interp, delta); +} + +controller_interface::return_type RobotController::update( + const rclcpp::Time & time, const rclcpp::Duration & /*period*/) +{ + if (new_msg_) + { + trajectory_msg_ = *traj_msg_external_point_ptr_.readFromRT(); + start_time_ = time; + new_msg_ = false; + } + + if (trajectory_msg_ != nullptr) + { + interpolate_trajectory_point(*trajectory_msg_, time - start_time_, point_interp_); + for (size_t i = 0; i < joint_position_command_interface_.size(); i++) + { + joint_position_command_interface_[i].get().set_value(point_interp_.positions[i]); + } + for (size_t i = 0; i < joint_velocity_command_interface_.size(); i++) + { + joint_velocity_command_interface_[i].get().set_value(point_interp_.velocities[i]); + } + } + + return controller_interface::return_type::OK; +} + +controller_interface::CallbackReturn RobotController::on_deactivate(const rclcpp_lifecycle::State &) +{ + release_interfaces(); + + return CallbackReturn::SUCCESS; +} + +controller_interface::CallbackReturn RobotController::on_cleanup(const rclcpp_lifecycle::State &) +{ + return CallbackReturn::SUCCESS; +} + +controller_interface::CallbackReturn RobotController::on_error(const rclcpp_lifecycle::State &) +{ + return CallbackReturn::SUCCESS; +} + +controller_interface::CallbackReturn RobotController::on_shutdown(const rclcpp_lifecycle::State &) +{ + return CallbackReturn::SUCCESS; +} + +} // namespace ros2_control_demo_example_7 + +#include "pluginlib/class_list_macros.hpp" + +PLUGINLIB_EXPORT_CLASS( + ros2_control_demo_example_7::RobotController, controller_interface::ControllerInterface) diff --git a/example_7/description/launch/view_r6bot.launch.py b/example_7/description/launch/view_r6bot.launch.py new file mode 100644 index 000000000..d53b50da0 --- /dev/null +++ b/example_7/description/launch/view_r6bot.launch.py @@ -0,0 +1,84 @@ +# Copyright 2023 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 +from launch.conditions import IfCondition +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 and Joint State Publisher gui automatically \ + with this launch file.", + ) + ) + # Initialize Arguments + gui = LaunchConfiguration("gui") + + # Get URDF via xacro + robot_description_content = Command( + [ + PathJoinSubstitution([FindExecutable(name="xacro")]), + " ", + PathJoinSubstitution( + [ + FindPackageShare("ros2_control_demo_example_7"), + "urdf", + "r6bot.urdf.xacro", + ] + ), + ] + ) + robot_description = {"robot_description": robot_description_content} + + rviz_config_file = PathJoinSubstitution( + [FindPackageShare("ros2_control_demo_example_7"), "rviz", "view_robot.rviz"] + ) + + joint_state_publisher_node = Node( + package="joint_state_publisher_gui", + executable="joint_state_publisher_gui", + condition=IfCondition(gui), + ) + + robot_state_publisher_node = Node( + package="robot_state_publisher", + executable="robot_state_publisher", + output="both", + parameters=[robot_description], + ) + rviz_node = Node( + package="rviz2", + executable="rviz2", + name="rviz2", + output="log", + arguments=["-d", rviz_config_file], + condition=IfCondition(gui), + ) + # + nodes_to_start = [ + joint_state_publisher_node, + robot_state_publisher_node, + rviz_node, + ] + + return LaunchDescription(declared_arguments + nodes_to_start) diff --git a/example_7/description/meshes/collision/link_0.stl b/example_7/description/meshes/collision/link_0.stl new file mode 100644 index 0000000000000000000000000000000000000000..e6aa48d2759905df16ce620ef85dff81a063e1a2 GIT binary patch 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    +     +     +     +     + + + + 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 + + + + + + + + + + + + + +     diff --git a/example_7/description/ros2_control/r6bot.ros2_control.xacro b/example_7/description/ros2_control/r6bot.ros2_control.xacro new file mode 100644 index 000000000..4c8d8eee9 --- /dev/null +++ b/example_7/description/ros2_control/r6bot.ros2_control.xacro @@ -0,0 +1,115 @@ + + + + + + + + + ros2_control_demo_example_7/RobotSystem + + + + + {-2*pi} + {2*pi} + + + -3.15 + 3.15 + + + 0.0 + + + + + + + {-2*pi} + {2*pi} + + + -3.15 + 3.15 + + + 0.0 + + + + + + + {-pi} + {pi} + + + -3.15 + 3.15 + + + 0.0 + + + + + + + {-2*pi} + {2*pi} + + + -3.2 + 3.2 + + + 0.0 + + + + + + + {-2*pi} + {2*pi} + + + -3.2 + 3.2 + + + 0.0 + + + + + + + {-2*pi} + {2*pi} + + + -3.2 + 3.2 + + + 0.0 + + + + + + + + + + + + + + + + + + diff --git a/example_7/description/rviz/view_robot.rviz b/example_7/description/rviz/view_robot.rviz new file mode 100644 index 000000000..8c1647a83 --- /dev/null +++ b/example_7/description/rviz/view_robot.rviz @@ -0,0 +1,253 @@ +Panels: + - Class: rviz_common/Displays + Help Height: 138 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /Status1 + - /TF1 + - /TF1/Frames1 + - /RobotModel1 + Splitter Ratio: 0.5 + Tree Height: 631 + - Class: rviz_common/Selection + Name: Selection + - Class: rviz_common/Tool Properties + Expanded: + - /2D Goal Pose1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.5886790156364441 + - Class: rviz_common/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz_common/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: "" +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz_default_plugins/Grid + Color: 160; 160; 164 + Enabled: false + Line Style: + Line Width: 0.029999999329447746 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: false + - Class: rviz_default_plugins/TF + Enabled: true + Frame Timeout: 15 + Frames: + All Enabled: true + base_link: + Value: true + ft_frame: + Value: true + link_1: + Value: true + link_2: + Value: true + link_3: + Value: true + link_4: + Value: true + link_5: + Value: true + link_6: + Value: true + tool0: + Value: true + world: + Value: true + Marker Scale: 1 + Name: TF + Show Arrows: false + Show Axes: true + Show Names: false + Tree: + world: + base_link: + link_1: + link_2: + link_3: + link_4: + link_5: + link_6: + ft_frame: + tool0: + {} + Update Interval: 0 + Value: true + - Alpha: 1 + Class: rviz_default_plugins/RobotModel + Collision Enabled: false + Description File: "" + Description Source: Topic + Description Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /robot_description + Enabled: true + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + ft_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + link_1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_3: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_4: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_5: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_6: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + tool0: + Alpha: 1 + Show Axes: false + Show Trail: false + world: + Alpha: 1 + Show Axes: false + Show Trail: false + Mass Properties: + Inertia: false + Mass: false + Name: RobotModel + TF Prefix: "" + Update Interval: 0 + Value: true + Visual Enabled: true + Enabled: true + Global Options: + Background Color: 255; 255; 255 + Fixed Frame: base_link + Frame Rate: 30 + Name: root + Tools: + - Class: rviz_default_plugins/Interact + Hide Inactive Objects: true + - Class: rviz_default_plugins/MoveCamera + - Class: rviz_default_plugins/Select + - Class: rviz_default_plugins/FocusCamera + - Class: rviz_default_plugins/Measure + Line color: 128; 128; 0 + - Class: rviz_default_plugins/SetInitialPose + Covariance x: 0.25 + Covariance y: 0.25 + Covariance yaw: 0.06853891909122467 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /initialpose + - Class: rviz_default_plugins/SetGoal + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /goal_pose + - Class: rviz_default_plugins/PublishPoint + Single click: true + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /clicked_point + Transformation: + Current: + Class: rviz_default_plugins/TF + Value: true + Views: + Current: + Class: rviz_default_plugins/Orbit + Distance: 2.020890235900879 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: -0.3431778848171234 + Y: 0.6169372200965881 + Z: 0.4080313444137573 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 0.17479799687862396 + Target Frame: + Value: Orbit (rviz) + Yaw: 0.8921666145324707 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 1016 + Hide Left Dock: false + Hide Right Dock: true + QMainWindow State: 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+ Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: true + Width: 1846 + X: 74 + Y: 27 diff --git a/example_7/description/srdf/r6bot.srdf b/example_7/description/srdf/r6bot.srdf new file mode 100644 index 000000000..c24bf0fd0 --- /dev/null +++ b/example_7/description/srdf/r6bot.srdf @@ -0,0 +1,23 @@ + + + + + + + + + + + + + + + + + + + + + + + diff --git a/example_7/description/urdf/inc/create_link.xacro b/example_7/description/urdf/inc/create_link.xacro new file mode 100644 index 000000000..fe48a561b --- /dev/null +++ b/example_7/description/urdf/inc/create_link.xacro @@ -0,0 +1,29 @@ + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/example_7/description/urdf/r6bot.urdf.xacro b/example_7/description/urdf/r6bot.urdf.xacro new file mode 100644 index 000000000..d03954ce4 --- /dev/null +++ b/example_7/description/urdf/r6bot.urdf.xacro @@ -0,0 +1,142 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 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