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[Example 7] Full example for 6 revolute joint robot (#201)
This change adds an minimal example to control a custom 6 DOF robot with ros2_control. The README acts as a tutorial for intermediate ROS 2 users. --------- Co-authored-by: Christoph Froehlich <christoph.froehlich@ait.ac.at> (cherry picked from commit 09b357a)
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| cmake_minimum_required(VERSION 3.16) | ||
| project(ros2_control_demo_example_7 LANGUAGES CXX) | ||
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| if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)") | ||
| add_compile_options(-Wall -Wextra) | ||
| endif() | ||
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| # find dependencies | ||
| set(HW_IF_INCLUDE_DEPENDS | ||
| pluginlib | ||
| rcpputils | ||
| hardware_interface | ||
| ) | ||
| set(REF_GEN_INCLUDE_DEPENDS | ||
| kdl_parser | ||
| rclcpp | ||
| trajectory_msgs | ||
| ) | ||
| set(CONTROLLER_INCLUDE_DEPENDS | ||
| pluginlib | ||
| rcpputils | ||
| controller_interface | ||
| realtime_tools | ||
| trajectory_msgs | ||
| ) | ||
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| # find dependencies | ||
| find_package(ament_cmake REQUIRED) | ||
| foreach(Dependency IN ITEMS ${HW_IF_INCLUDE_DEPENDS}) | ||
| find_package(${Dependency} REQUIRED) | ||
| endforeach() | ||
| foreach(Dependency IN ITEMS ${REF_GEN_INCLUDE_DEPENDS}) | ||
| find_package(${Dependency} REQUIRED) | ||
| endforeach() | ||
| foreach(Dependency IN ITEMS ${CONTROLLER_INCLUDE_DEPENDS}) | ||
| find_package(${Dependency} REQUIRED) | ||
| endforeach() | ||
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| ## COMPILE | ||
| add_executable(send_trajectory reference_generator/send_trajectory.cpp) | ||
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| ament_target_dependencies( | ||
| send_trajectory PUBLIC | ||
| ${REF_GEN_INCLUDE_DEPENDS} | ||
| ) | ||
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| add_library( | ||
| ros2_control_demo_example_7 | ||
| SHARED | ||
| hardware/r6bot_hardware.cpp | ||
| controller/r6bot_controller.cpp | ||
| ) | ||
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| target_compile_features(ros2_control_demo_example_7 PUBLIC cxx_std_17) | ||
| target_include_directories(ros2_control_demo_example_7 PUBLIC | ||
| $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/hardware/include> | ||
| $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/controller/include> | ||
| $<INSTALL_INTERFACE:include/ros2_control_demo_example_7> | ||
| ) | ||
| ament_target_dependencies( | ||
| ros2_control_demo_example_7 PUBLIC | ||
| ${HW_IF_INCLUDE_DEPENDS} | ||
| ${CONTROLLER_INCLUDE_DEPENDS} | ||
| ) | ||
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| # Causes the visibility macros to use dllexport rather than dllimport, | ||
| # which is appropriate when building the dll but not consuming it. | ||
| target_compile_definitions(${PROJECT_NAME} PRIVATE "ROS2_CONTROL_DEMO_EXAMPLE_7_BUILDING_DLL") | ||
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| # Export hardware plugins | ||
| pluginlib_export_plugin_description_file(hardware_interface ros2_control_demo_example_7.xml) | ||
| # Export controller plugins | ||
| pluginlib_export_plugin_description_file(controller_interface ros2_control_demo_example_7.xml) | ||
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| # INSTALL | ||
| install( | ||
| DIRECTORY hardware/include/ | ||
| DESTINATION include/ros2_control_demo_example_7 | ||
| ) | ||
| install( | ||
| DIRECTORY description/launch description/ros2_control description/urdf description/rviz description/srdf description/meshes | ||
| DESTINATION share/ros2_control_demo_example_7 | ||
| ) | ||
| install( | ||
| DIRECTORY bringup/launch bringup/config | ||
| DESTINATION share/ros2_control_demo_example_7 | ||
| ) | ||
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| install( | ||
| TARGETS send_trajectory | ||
| RUNTIME DESTINATION lib/ros2_control_demo_example_7 | ||
| ) | ||
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| install(TARGETS ros2_control_demo_example_7 | ||
| EXPORT export_ros2_control_demo_example_7 | ||
| ARCHIVE DESTINATION lib | ||
| LIBRARY DESTINATION lib | ||
| RUNTIME DESTINATION bin | ||
| ) | ||
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| if(BUILD_TESTING) | ||
| find_package(ament_cmake_gtest REQUIRED) | ||
| endif() | ||
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| ## EXPORTS | ||
| ament_export_targets(export_ros2_control_demo_example_7 HAS_LIBRARY_TARGET) | ||
| ament_export_dependencies(${HW_IF_INCLUDE_DEPENDS} ${REF_GEN_INCLUDE_DEPENDS} ${CONTROLLER_INCLUDE_DEPENDS}) | ||
| ament_package() |
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| # ros2_control_demo_example_7 | ||
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| A full tutorial for a 6 DOF robot for intermediate ROS 2 users. | ||
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| It consists of the following: | ||
| * bringup: launch files and ros2_controller configuration | ||
| * controller: a controller for the 6-DOF robot | ||
| * description: the 6-DOF robot description | ||
| * hardware: ros2_control hardware interface | ||
| * reference_generator: A KDL-based reference generator for a fixed trajectory | ||
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| 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_7/doc/userdoc.html). |
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| controller_manager: | ||
| ros__parameters: | ||
| update_rate: 10 # Hz | ||
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| joint_state_broadcaster: | ||
| type: joint_state_broadcaster/JointStateBroadcaster | ||
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| r6bot_controller: | ||
| type: ros2_control_demo_example_7/RobotController | ||
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| r6bot_controller: | ||
| ros__parameters: | ||
| joints: | ||
| - joint_1 | ||
| - joint_2 | ||
| - joint_3 | ||
| - joint_4 | ||
| - joint_5 | ||
| - joint_6 | ||
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| command_interfaces: | ||
| - position | ||
| - velocity | ||
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| state_interfaces: | ||
| - position | ||
| - velocity |
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| # Copyright 2023 ros2_control Development Team | ||
| # | ||
| # 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. | ||
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| from launch import LaunchDescription | ||
| from launch.actions import RegisterEventHandler | ||
| from launch.event_handlers import OnProcessExit | ||
| from launch.substitutions import Command, FindExecutable, PathJoinSubstitution | ||
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| from launch_ros.actions import Node | ||
| from launch_ros.substitutions import FindPackageShare | ||
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| def generate_launch_description(): | ||
| # Get URDF via xacro | ||
| robot_description_content = Command( | ||
| [ | ||
| PathJoinSubstitution([FindExecutable(name="xacro")]), | ||
| " ", | ||
| PathJoinSubstitution( | ||
| [ | ||
| FindPackageShare("ros2_control_demo_example_7"), | ||
| "urdf", | ||
| "r6bot.urdf.xacro", | ||
| ] | ||
| ), | ||
| ] | ||
| ) | ||
| robot_description = {"robot_description": robot_description_content} | ||
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| robot_controllers = PathJoinSubstitution( | ||
| [ | ||
| FindPackageShare("ros2_control_demo_example_7"), | ||
| "config", | ||
| "r6bot_controller.yaml", | ||
| ] | ||
| ) | ||
| rviz_config_file = PathJoinSubstitution( | ||
| [FindPackageShare("ros2_control_demo_example_7"), "rviz", "view_robot.rviz"] | ||
| ) | ||
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| control_node = Node( | ||
| package="controller_manager", | ||
| executable="ros2_control_node", | ||
| parameters=[robot_description, robot_controllers], | ||
| remappings=[ | ||
| ( | ||
| "/forward_position_controller/commands", | ||
| "/position_commands", | ||
| ), | ||
| ], | ||
| 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], | ||
| ) | ||
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| joint_state_broadcaster_spawner = Node( | ||
| package="controller_manager", | ||
| executable="spawner", | ||
| arguments=["joint_state_broadcaster", "--controller-manager", "/controller_manager"], | ||
| ) | ||
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| robot_controller_spawner = Node( | ||
| package="controller_manager", | ||
| executable="spawner", | ||
| arguments=["r6bot_controller", "-c", "/controller_manager"], | ||
| ) | ||
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| # 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], | ||
| ) | ||
| ) | ||
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| # 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], | ||
| ) | ||
| ) | ||
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| 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, | ||
| ] | ||
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| return LaunchDescription(nodes) |
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