swerve-teleop-simulation

Here we are moving swerve drive using teleop in simulation using swerve_steering_controller.

You can find some info about the controller here.

Steps to implement teleop in simulation -

1. You need Ubuntu 20.04 and ros noetic.

2. Download ros_controllers package from here from noetic-devel branch because this controller is developed in ros-noetic. Solve catkin_make errors (if any).

3. Create your own urdf. I have added a custom made urdf 'swerve_description' in this repository and also added whole cad in .stl format. I extracted that urdf from Autodesk Fusion360. Add your package in same workspace in which you have downloded ros_controller package.

4. Add robotNamespace and robotSimType parameters in gazebo_ros_control plugin (if not present)

     <gazebo>
       <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
         <robotNamespace>/</robotNamespace>
         <robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
       </plugin>
     </gazebo>
   

5. Add following gazebo plugin

     <gazebo>
       <plugin name="ground_truth" filename="libgazebo_ros_p3d.so">
         <alwaysOn>true</alwaysOn>
         <updateRate>50.0</updateRate>
         <gaussianNoise>0.01</gaussianNoise>
         <bodyName>base_footprint</bodyName>
         <topicName>odomw</topicName>
       </plugin>
     <gazebo>
   

6. Now inside urdf check the transmissions. The hardwareInterface parameter inside joint of wheels should be VelocityJointInterface and for holders it should be PositionJointInterface.

   e.g. for wheel's joint

    <hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
   

   for holder's joint

    <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
   

   If you are having any doubt, check our swerve.trans file.

7. Make the changes in launch file 'robot.launch' inside swerve_steering_controller/test/launch according to your urdf. We have added our robot.launch file too.

8. Change the parameters in 'ros_controllers.yaml' inside swerve_steering_controller/test/config. We have added that file too.

9. Now you are ready to launch 'robot.launch' from swerve_steering_controller/test/launch.

10. In order to run teleop_twist_keyboard you need to change topic name inside teleop_twist_keyboard.py from 'cmd_vel' to 'swerve_steering_controller/cmd_vel'. We have done that and added teleop_twist_keyboard.py file here.

11. Now, first launch 'robot.launch' then run 'teleop_twist_keyboard.py' and you can see your swerve drive moving.

The video recording of our execution is available here.