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Update bringup launch file and URDF to support real Mini Pupper #45

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merged 7 commits into from
Mar 4, 2023
Merged

Update bringup launch file and URDF to support real Mini Pupper #45

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bc3405e
Update bringup launch file to support real Mini Pupper
Tiryoh Feb 13, 2023
536cbd3
Update README.md
Tiryoh Feb 14, 2023
d78a344
Merge branch 'ros2' into patch-15
Tiryoh Mar 4, 2023
d485875
Add lidar launch
Tiryoh Mar 4, 2023
dfe97a0
Fix lidar frame_id
Tiryoh Mar 4, 2023
264e1be
Remove unused package
Tiryoh Mar 4, 2023
58059da
Fix urdf
Tiryoh Mar 4, 2023
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34 changes: 32 additions & 2 deletions README.md
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Original file line number Diff line number Diff line change
Expand Up @@ -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
Expand Down Expand Up @@ -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

Expand All @@ -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`.
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I believe it should be fixed by downgrading setuptools: pip3 install setuptools==58.2.0

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@Tiryoh Tiryoh Feb 14, 2023 •
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Thank you for the detailed information!
I would just like to point out that this error (warning) is an issue with the build tool and not with this ROS package.

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@Tiryoh Tiryoh Feb 14, 2023 •
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related issues:

* A. The following warnings can be safely ignored
```
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]
```
49 changes: 30 additions & 19 deletions mini_pupper_bringup/launch/bringup.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -54,6 +54,9 @@ 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']
)

robot_name = LaunchConfiguration("robot_name")
sim = LaunchConfiguration("sim")
Expand All @@ -74,13 +77,13 @@ 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'
)

Expand All @@ -94,28 +97,36 @@ 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),
),
)

return LaunchDescription([
declare_robot_name,
declare_sim,
declare_rviz,
declare_hardware_connected,
rviz2_node,
bringup_launch
bringup_launch,
servo_interface_launch
])