Added control simualtion

docs/workshops/control_sim.md

@@ -0,0 +1,154 @@
+---
+title: Control simulation
+# icon: material/math-integral-box # elméleti tananyag
+# hide:
+#   - navigation
+#   - toc
+---
+
+
+
+
+
+## ROS 2 `sim_wayp_plan_tools` package
+Gazebo Fortress ROS 2 simulation for the waypoint and planner tools.
+
+
+![](https://raw.githubusercontent.com/jkk-research/sim_wayp_plan_tools/ros2/img/gz_rviz01.gif)
+
+
+### Requirements
+- ROS 2 Humble: [docs.ros.org/en/humble/Installation.html](https://docs.ros.org/en/humble/Installation.html)
+- Gazebo Fortress: [gazebosim.org/docs/fortress/install_ubuntu](https://gazebosim.org/docs/fortress/install_ubuntu), read more about integration: [gazebosim.org/docs/fortress/ros2_integration](https://gazebosim.org/docs/fortress/ros2_integration)
+- `ros-gz-bridge` install with a single command: `sudo apt install ros-humble-ros-gz-bridge`
+
+## Packages and build
+
+It is assumed that the workspace is `~/ros2_ws/`.
+
+### Clone the packages
+```
+cd ~/ros2_ws/src && \
+git clone https://github.com/jkk-research/wayp_plan_tools && \
+git clone https://github.com/jkk-research/sim_wayp_plan_tools
+```
+
+### Build ROS 2 packages
+```
+cd ~/ros2_ws
+```
+```
+colcon build --packages-select wayp_plan_tools sim_wayp_plan_tools --symlink-install
+```
+
+
+## Usage of `wayp_plan_tools` as a simulation
+
+### 1. Start the simulation
+```
+ign gazebo -v 4 -r ackermann_steering.sdf
+```
+
+### 2. Start the Gazebo bridge
+
+Don't forget to `source` before ROS commands.
+
+``` r
+source ~/ros2_ws/install/local_setup.bash
+```
+
+``` r
+ros2 launch sim_wayp_plan_tools gazebo_bridge.launch.py
+```
+
+In the background this `launch` file starts nodes similar to:
+
+``` r
+ros2 run ros_gz_bridge parameter_bridge /world/ackermann_steering/pose/info@geometry_msgs/msg/PoseArray[ignition.msgs.Pose_V
+ros2 run ros_gz_bridge parameter_bridge /model/vehicle_blue/cmd_vel@geometry_msgs/msg/Twist]ignition.msgs.Twist
+ros2 run ros_gz_bridge parameter_bridge /model/vehicle_blue/odometry@nav_msgs/msg/Odometry[ignition.msgs.Odometry --ros-args -r /model/vehicle_blue/odometry:=/odom
+```
+More about the bridge here: [github.com/gazebosim/ros_gz/blob/ros2/ros_gz_bridge/README.md](https://github.com/gazebosim/ros_gz/blob/ros2/ros_gz_bridge/README.md)
+
+Also this `launch` creates `/tf` from the `PoseArray` with `pose_arr_to_tf`.
+
+#### *Optional*: teleoperation via keyboard
+
+``` r
+ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args -r /cmd_vel:=/model/vehicle_blue/cmd_vel
+```
+
+### 3. Load waypoints 
+
+Use you ROS 2 workspace as `file_dir`:
+``` r
+ros2 run wayp_plan_tools waypoint_loader --ros-args -p file_name:=sim_waypoints1.csv -p file_dir:=$HOME/ros2_ws/src/sim_wayp_plan_tools/csv -r __ns:=/sim1
+```
+Or simply with default parameters:
+
+``` r
+ros2 launch sim_wayp_plan_tools waypoint_loader.launch.py
+```
+
+### 4. Waypoint to target
+
+``` r
+ros2 run wayp_plan_tools waypoint_to_target --ros-args -p lookahead_min:=2.5 -p lookahead_max:=4.5 -p mps_alpha:=1.5 -p mps_beta:=3.5 -p waypoint_topic:=waypointarray -p tf_frame_id:=base_link -p tf_child_frame_id:=map -r __ns:=/sim1
+```
+Or simply with default parameters:
+
+``` r
+ros2 launch sim_wayp_plan_tools waypoint_to_target.launch.py
+```
+
+### 5. Start a control
+
+There are some options:
+- `single_goal_pursuit`: Pure pursuit (for vehicles / robots), a simple cross-track error method
+- `multiple_goal_pursuit`: Multiple goal pursuit for vehicles / robots an implementation of our [paper](https://hjic.mk.uni-pannon.hu/index.php/hjic/article/view/914)
+- `stanley_control`: Stanley controller, a heading error + cross-track error method
+- `follow_the_carrot`: Follow-the-carrot, the simplest controller
+
+This is a pure pursuit example:
+
+``` r
+ros2 run wayp_plan_tools single_goal_pursuit --ros-args -p cmd_topic:=/model/vehicle_blue/cmd_vel -p wheelbase:=1.0 -p waypoint_topic:=targetpoints -r __ns:=/sim1
+```
+Or simply with default parameters:
+
+``` r
+ros2 launch sim_wayp_plan_tools single_goal_pursuit.launch.py
+```
+
+### 6. Visualize results in `RViz2`
+``` r
+ros2 launch sim_wayp_plan_tools rviz1.launch.py
+```
+
+# Or run everything with a single command
+
+After `ign gazebo -v 4 -r ackermann_steering.sdf` (terminal 1) and `source ~/ros2_ws/install/local_setup.bash` (terminal 2), run this command (also in terminal 2): 
+``` r
+ros2 launch sim_wayp_plan_tools all_in_once.launch.py
+```
+
+## Troubleshoot 
+
+Kill `ign gazebo server` if stuck:
+
+``` r
+ps aux | grep ign
+```
+
+``` r
+ab  12345 49.9  1.2 2412624 101608 ?      Sl   08:26  27:20 ign gazebo server
+ab  12346  518  6.6 10583664 528352 ?     Sl   08:26 283:45 ign gazebo gui
+ab  12347  0.0  0.0   9396  2400 pts/2    S+   09:21   0:00 grep --color=auto ign
+```
+
+Once you have identified the PID, use the kill command followed by the PID to terminate the process. For example:
+
+``` r
+kill 12345
+```
+

docs/workshops/ros2_b.md

@@ -1,7 +1,5 @@
 ---
-layout: default
 title: ROS 2 introduction
-parent: Bevezetés
 # icon: material/math-integral-box # elméleti tananyag
 # hide:
 #   - navigation

mkdocs.yml

@@ -113,6 +113,7 @@ nav:
       - LIDAR clustering: workshops/clustering_a.md
       - F1/10 simulation: workshops/f1tenth_sim_a.md
       - F1/10 hands-on: workshops/f1tenth_real_a.md
+      - workshops/control_sim.md
     - ROS 1 (legacy):
       - Wheeltec hands-on (ROS 1) : workshops/wheeltec_real_a.md