-
Notifications
You must be signed in to change notification settings - Fork 188
Commit
This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository.
Browse files
Browse the repository at this point in the history
…#367) Co-authored-by: Denis Štogl <denis@stogl.de> Co-authored-by: Jack <jack.d.center@gmail.com> Co-authored-by: Dr. Denis <denis@stoglrobotics.de> (cherry picked from commit 90fac3d) Co-authored-by: Christoph Fröhlich <christophfroehlich@users.noreply.github.com>
- Loading branch information
1 parent
ed33141
commit 0c4c5fd
Showing
23 changed files
with
1,518 additions
and
4 deletions.
There are no files selected for viewing
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Original file line number | Diff line number | Diff line change |
---|---|---|
@@ -0,0 +1,75 @@ | ||
cmake_minimum_required(VERSION 3.16) | ||
project(ros2_control_demo_example_14 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 | ||
realtime_tools | ||
) | ||
|
||
# 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_14 | ||
SHARED | ||
hardware/rrbot_actuator_without_feedback.cpp | ||
hardware/rrbot_sensor_for_position_feedback.cpp | ||
) | ||
target_compile_features(ros2_control_demo_example_14 PUBLIC cxx_std_17) | ||
target_include_directories(ros2_control_demo_example_14 PUBLIC | ||
$<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/hardware/include> | ||
$<INSTALL_INTERFACE:include/ros2_control_demo_example_14> | ||
) | ||
ament_target_dependencies( | ||
ros2_control_demo_example_14 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_14_BUILDING_DLL") | ||
|
||
# Export hardware plugins | ||
pluginlib_export_plugin_description_file(hardware_interface ros2_control_demo_example_14.xml) | ||
|
||
# INSTALL | ||
install( | ||
DIRECTORY hardware/include/ | ||
DESTINATION include/ros2_control_demo_example_14 | ||
) | ||
install( | ||
DIRECTORY description/launch description/ros2_control description/urdf | ||
DESTINATION share/ros2_control_demo_example_14 | ||
) | ||
install( | ||
DIRECTORY bringup/launch bringup/config | ||
DESTINATION share/ros2_control_demo_example_14 | ||
) | ||
install(TARGETS ros2_control_demo_example_14 | ||
EXPORT export_ros2_control_demo_example_14 | ||
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_14 HAS_LIBRARY_TARGET) | ||
ament_export_dependencies(${THIS_PACKAGE_INCLUDE_DEPENDS}) | ||
ament_package() |
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Original file line number | Diff line number | Diff line change |
---|---|---|
@@ -0,0 +1,5 @@ | ||
# ros2_control_demo_example_14 | ||
|
||
The example shows how to implement robot hardware with actuators not providing states and with additional sensors. | ||
|
||
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_14/doc/userdoc.html). |
17 changes: 17 additions & 0 deletions
17
...ringup/config/rrbot_modular_actuators_without_feedback_sensors_for_position_feedback.yaml
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Original file line number | Diff line number | Diff line change |
---|---|---|
@@ -0,0 +1,17 @@ | ||
controller_manager: | ||
ros__parameters: | ||
update_rate: 100 # Hz | ||
|
||
joint_state_broadcaster: | ||
type: joint_state_broadcaster/JointStateBroadcaster | ||
|
||
forward_velocity_controller: | ||
type: forward_command_controller/ForwardCommandController | ||
|
||
|
||
forward_velocity_controller: | ||
ros__parameters: | ||
joints: | ||
- joint1 | ||
- joint2 | ||
interface_name: velocity |
153 changes: 153 additions & 0 deletions
153
...p/launch/rrbot_modular_actuators_without_feedback_sensors_for_position_feedback.launch.py
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Original file line number | Diff line number | Diff line change |
---|---|---|
@@ -0,0 +1,153 @@ | ||
# 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( | ||
"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( | ||
"slowdown", default_value="50.0", description="Slowdown factor of the RRbot." | ||
) | ||
) | ||
declared_arguments.append( | ||
DeclareLaunchArgument( | ||
"robot_controller", | ||
default_value="forward_velocity_controller", | ||
description="Robot controller to start.", | ||
) | ||
) | ||
declared_arguments.append( | ||
DeclareLaunchArgument( | ||
"gui", | ||
default_value="true", | ||
description="Start RViz2 automatically with this launch file.", | ||
) | ||
) | ||
|
||
# Initialize Arguments | ||
prefix = LaunchConfiguration("prefix") | ||
slowdown = LaunchConfiguration("slowdown") | ||
robot_controller = LaunchConfiguration("robot_controller") | ||
gui = LaunchConfiguration("gui") | ||
|
||
# Get URDF via xacro | ||
robot_description_content = Command( | ||
[ | ||
PathJoinSubstitution([FindExecutable(name="xacro")]), | ||
" ", | ||
PathJoinSubstitution( | ||
[ | ||
FindPackageShare("ros2_control_demo_example_14"), | ||
"urdf", | ||
"rrbot_modular_actuators_without_feedback_sensors_for_position_feedback.urdf.xacro", | ||
] | ||
), | ||
" ", | ||
"prefix:=", | ||
prefix, | ||
" ", | ||
"slowdown:=", | ||
slowdown, | ||
] | ||
) | ||
robot_description = {"robot_description": robot_description_content} | ||
|
||
robot_controllers = PathJoinSubstitution( | ||
[ | ||
FindPackageShare("ros2_control_demo_example_14"), | ||
"config", | ||
"rrbot_modular_actuators_without_feedback_sensors_for_position_feedback.yaml", | ||
] | ||
) | ||
rviz_config_file = PathJoinSubstitution( | ||
[FindPackageShare("ros2_control_demo_description"), "rrbot/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(gui), | ||
) | ||
|
||
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) |
Oops, something went wrong.