Update bringup launch file and URDF to support real Mini Pupper

README.md

@@ -83,7 +83,7 @@ Note: This step is only for PC
 ```sh
 # Terminal 1
 . ~/ros2_ws/install/setup.bash # setup.zsh if you use zsh instead of bash
-ros2 launch mini_pupper_bringup bringup.launch.py rviz:=true
+ros2 launch mini_pupper_bringup bringup.launch.py joint_hardware_connected:=false rviz:=true
 
 # Terminal 2
 ros2 run teleop_twist_keyboard teleop_twist_keyboard
@@ -124,7 +124,21 @@ ros2 run teleop_twist_keyboard teleop_twist_keyboard
 
 ## 2.2 Mini Pupper
 
-(To be prepared)
+### 2.1.1 Test walk
+
+Note: This step is only for Mini Pupper
+
+Open 2 terminals and ssh login to Mini Pupper on both.
+
+```sh
+# Terminal 1 (ssh)
+. ~/ros2_ws/install/setup.bash # setup.zsh if you use zsh instead of bash
+ros2 launch mini_pupper_bringup bringup.launch.py
+
+# Terminal 2 (ssh)
+ros2 run teleop_twist_keyboard teleop_twist_keyboard
+# Then control Mini Pupper with the keyboard
+```
 
 ## License
 
@@ -150,3 +164,19 @@ limitations under the License.
  * A. No. Ubuntu 22.04 only for now.
 * Q. Is ROS 2 Foxy/Galactic supported?
  * A. No. ROS 2 Humble only for now.
+* Q. `colcon build` shows `1 package had stderr output: mini_pupper_control`.
+ * A. The following warnings can be safely ignored. See [mini_pupper_ros#45](https://github.com/mangdangroboticsclub/mini_pupper_ros/pull/45#discussion_r1104759104) for details.
+ ```
+ Starting >>> mini_pupper_description
+ --- stderr: mini_pupper_control
+ /usr/lib/python3/dist-packages/setuptools/command/easy_install.py:158: EasyInstallDeprecationWarning: easy_install command is deprecated. Use build and pip and other standards-based tools.
+ warnings.warn(
+ /usr/lib/python3/dist-packages/setuptools/command/install.py:34: SetuptoolsDeprecationWarning: setup.py install is deprecated. Use build and pip and other standards-based tools.
+ warnings.warn(
+ /usr/lib/python3/dist-packages/pkg_resources/__init__.py:116: PkgResourcesDeprecationWarning: 1.1build1 is an invalid version and will not be supported in a future release
+ warnings.warn(
+ /usr/lib/python3/dist-packages/pkg_resources/__init__.py:116: PkgResourcesDeprecationWarning: 0.1.43ubuntu1 is an invalid version and will not be supported in a future release
+ warnings.warn(
+ ---
+ Finished <<< mini_pupper_control [7.37s]
+ ```

mini_pupper_bringup/launch/bringup.launch.py

@@ -54,6 +54,12 @@ def generate_launch_description():
  rviz_config_path = PathJoinSubstitution(
  [description_package, 'rviz', 'urdf_viewer.rviz']
  )
+ servo_interface_launch_path = PathJoinSubstitution(
+ [FindPackageShare('mini_pupper_control'), 'launch', 'servo_interface.launch.py']
+ )
+ lidar_launch_path = PathJoinSubstitution(
+ [FindPackageShare('mini_pupper_bringup'), 'launch', 'lidar.launch.py']
+ )
 
  robot_name = LaunchConfiguration("robot_name")
  sim = LaunchConfiguration("sim")
@@ -74,13 +80,13 @@ def generate_launch_description():
 
  declare_rviz = DeclareLaunchArgument(
  name='rviz',
- default_value='true',
+ default_value='false',
  description='Run rviz'
  )
 
  declare_hardware_connected = DeclareLaunchArgument(
  name='joint_hardware_connected',
- default_value='false',
+ default_value='true',
  description='Set to true if connected to a physical robot'
  )
 
@@ -94,28 +100,40 @@ def generate_launch_description():
  )
 
  bringup_launch = IncludeLaunchDescription(
- PythonLaunchDescriptionSource(bringup_launch_path),
- launch_arguments={
- "use_sim_time": sim,
- "robot_name": robot_name,
- "gazebo": sim,
- "rviz": "false", # set always false to launch RViz2 with costom .rviz file
- "joint_hardware_connected": joint_hardware_connected,
- "publish_foot_contacts": "true",
- "close_loop_odom": "true",
- "joint_controller_topic": "joint_group_effort_controller/joint_trajectory",
- "joints_map_path": joints_config_path,
- "links_map_path": links_config_path,
- "gait_config_path": gait_config_path,
- "description_path": description_path
- }.items(),
- )
+ PythonLaunchDescriptionSource(bringup_launch_path),
+ launch_arguments={
+ "use_sim_time": sim,
+ "robot_name": robot_name,
+ "gazebo": sim,
+ "rviz": "false", # set always false to launch RViz2 with costom .rviz file
+ "joint_hardware_connected": joint_hardware_connected,
+ "publish_foot_contacts": "true",
+ "close_loop_odom": "true",
+ "joint_controller_topic": "joint_group_effort_controller/joint_trajectory",
+ "joints_map_path": joints_config_path,
+ "links_map_path": links_config_path,
+ "gait_config_path": gait_config_path,
+ "description_path": description_path
+ }.items(),
+ )
+
+ servo_interface_launch = IncludeLaunchDescription(
+ PythonLaunchDescriptionSource(servo_interface_launch_path),
+ condition=IfCondition(joint_hardware_connected),
+ )
+
+ lidar_launch = IncludeLaunchDescription(
+ PythonLaunchDescriptionSource(lidar_launch_path),
+ condition=IfCondition(joint_hardware_connected),
+ )
 
  return LaunchDescription([
  declare_robot_name,
  declare_sim,
  declare_rviz,
  declare_hardware_connected,
  rviz2_node,
- bringup_launch
+ bringup_launch,
+ servo_interface_launch,
+ lidar_launch,
  ])

mini_pupper_bringup/launch/lidar.launch.py

@@ -0,0 +1,41 @@
+#!/usr/bin/env python3
+
+# SPDX-License-Identifier: Apache-2.0
+#
+# Copyright (c) 2022-2023 MangDang
+#
+# 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_ros.actions import Node
+
+
+def generate_launch_description():
+ return LaunchDescription([
+ Node(
+ package='ldlidar_stl_ros2',
+ executable='ldlidar_stl_ros2_node',
+ name='LD06',
+ output='screen',
+ parameters=[
+ {'product_name': 'LDLiDAR_LD06'},
+ {'topic_name': 'scan'},
+ {'frame_id': 'lidar_link'},
+ {'port_name': '/dev/ttyUSB0'},
+ {'port_baudrate': 230400},
+ {'laser_scan_dir': True},
+ {'enable_angle_crop_func': False},
+ {'angle_crop_min': 135.0},
+ {'angle_crop_max': 225.0}],
+ ),
+ ])

mini_pupper_description/urdf/mini_pupper_description.urdf

@@ -74,12 +74,12 @@
  </joint>
  <link name="lidar">
  <inertial>
- <origin rpy="0 0 0" xyz="1.56706411611127E-05 -5.16565672073303E-13 -0.0191835739440227"/>
+ <origin rpy="0 0 -1.57" xyz="1.56706411611127E-05 -5.16565672073303E-13 -0.0191835739440227"/>
  <mass value="0.0001"/>
  <inertia ixx="8.74731426973985E-06" ixy="-6.66781590704156E-08" ixz="1.89196685410159E-11" iyy="8.70097486591694E-06" iyz="-1.13397577799603E-17" izz="9.98821295317784E-06"/>
  </inertial>
  <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
+ <origin rpy="0 0 -1.57" xyz="0 0 0"/>
  <geometry>
  <mesh filename="file://$(find mini_pupper_description)/meshes/lidar.STL"/>
  </geometry>
@@ -88,14 +88,14 @@
  </material>
  </visual>
  <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
+ <origin rpy="0 0 -1.57" xyz="0 0 0"/>
  <geometry>
  <mesh filename="file://$(find mini_pupper_description)/meshes/lidar.STL"/>
  </geometry>
  </collision>
  </link>
  <joint name="base_lidar" type="fixed">
- <origin rpy="0 0 0" xyz="-0.070475 0.0001 0.08"/>
+ <origin rpy="0 0 1.57" xyz="-0.070475 0.0001 0.08"/>
  <parent link="base_link"/>
  <child link="lidar"/>
  <axis xyz="0 0 0"/>

mini_pupper_description/urdf/mini_pupper_description.urdf.xacro

@@ -105,7 +105,7 @@
  <inertial>
  <origin
  xyz="1.56706411611127E-05 -5.16565672073303E-13 -0.0191835739440227"
- rpy="0 0 0" />
+ rpy="0 0 -1.57" />
  <mass
  value="0.0001" />
  <inertia
@@ -119,7 +119,7 @@
  <visual>
  <origin
  xyz="0 0 0"
- rpy="0 0 0" />
+ rpy="0 0 -1.57" />
  <geometry>
  <mesh
  filename="file://$(find mini_pupper_description)/meshes/lidar.STL" />
@@ -133,7 +133,7 @@
  <collision>
  <origin
  xyz="0 0 0"
- rpy="0 0 0" />
+ rpy="0 0 -1.57" />
  <geometry>
  <mesh
  filename="file://$(find mini_pupper_description)/meshes/lidar.STL" />
@@ -145,14 +145,28 @@
  type="fixed">
  <origin
  xyz="-0.070475 0.0001 0.08"
- rpy="0 0 0" />
+ rpy="0 0 1.57" />
  <parent
  link="base_link" />
  <child
  link="lidar" />
  <axis
  xyz="0 0 0" />
  </joint>
+ <link name="lidar_link" />
+ <joint
+ name="lidar_link_joint"
+ type="fixed">
+ <origin
+ xyz="0 0 0"
+ rpy="0 0 0" />
+ <parent
+ link="lidar" />
+ <child
+ link="lidar_link" />
+ <axis
+ xyz="0 0 0" />
+ </joint>
  <link
  name="lf1">
  <inertial>