docs and clean up

.github/workflows/ci-coverage-build.yml

@@ -34,6 +34,7 @@ jobs:
             ros2_control_demo_example_7
             ros2_control_demo_example_8
             ros2_control_demo_example_9
+            ros2_control_demo_example_11
             ros2_control_demo_example_12
 
           vcs-repo-file-url: |

.github/workflows/ci-ros-lint.yml

@@ -29,6 +29,7 @@ jobs:
           ros2_control_demo_example_7
           ros2_control_demo_example_8
           ros2_control_demo_example_9
+          ros2_control_demo_example_11
           ros2_control_demo_example_12
 
   ament_lint_100:

doc/index.rst

@@ -67,6 +67,9 @@ Example 8: "Using transmissions"
 Example 9: "Gazebo Classic"
    Demonstrates how to switch between simulation and hardware.
 
+Example 11: "CarlikeBot"
+    *CarlikeBot* with an Ackermann steering controller would be similiar to how a car would be controlled.
+
 Example 12: "Controller chaining"
    The example shows a simple chainable controller and its integration to form a controller chain to control the joints of *RRBot*.
 
@@ -259,4 +262,5 @@ Examples
    Example 7: Full tutorial with a 6DOF robot <../example_7/doc/userdoc.rst>
    Example 8: Using transmissions <../example_8/doc/userdoc.rst>
    Example 9: Gazebo classic <../example_9/doc/userdoc.rst>
+   Example 11: CarlikeBot <../example_11/doc/userdoc.rst>
    Example 12: Controller chaining <../example_12/doc/userdoc.rst>

example_11/bringup/launch/carlikebot.launch.py

@@ -14,7 +14,7 @@
 
 from launch import LaunchDescription
 from launch.actions import DeclareLaunchArgument, RegisterEventHandler
-from launch.conditions import IfCondition, UnlessCondition
+from launch.conditions import IfCondition
 from launch.event_handlers import OnProcessExit
 from launch.substitutions import Command, FindExecutable, PathJoinSubstitution, LaunchConfiguration
 

example_11/doc/userdoc.rst

@@ -1,50 +1,51 @@
 :github_url: https://github.com/ros-controls/ros2_control_demos/blob/{REPOS_FILE_BRANCH}/example_11/doc/userdoc.rst
 
-.. _ros2_control_demos_example_2_userdoc:
+.. _ros2_control_demos_example_11_userdoc:
 
 *********
-DiffBot
+CarlikeBot
 *********
 
-*DiffBot*, or ''Differential Mobile Robot'', is a simple mobile base with differential drive.
-The robot is basically a box moving according to differential drive kinematics.
+*CarlikeBot* is a simple mobile base with ackermann drive.
 
-For *example_2*, the hardware interface plugin is implemented having only one interface.
+This example shows how to use the ackermann steering controller, which is a sub-design of the steering controller library.
 
 * The communication is done using proprietary API to communicate with the robot control box.
 * Data for all joints is exchanged at once.
 
-The *DiffBot* URDF files can be found in ``description/urdf`` folder.
+The *CarlikeBot* URDF files can be found in ``description/urdf`` folder.
+
+.. include:: ../../doc/run_from_docker.rst
 
 Tutorial steps
 --------------------------
 
-1. To check that *DiffBot* description is working properly use following launch commands
+1. To check that *CarlikeBot* description is working properly use following launch commands
 
    .. code-block:: shell
 
-    ros2 launch ros2_control_demo_example_2 view_robot.launch.py
+    ros2 launch ros2_control_demo_example_11 view_robot.launch.py
 
    .. warning::
     Getting the following output in terminal is OK: ``Warning: Invalid frame ID "odom" passed to canTransform argument target_frame - frame does not exist``.
     This happens because ``joint_state_publisher_gui`` node needs some time to start.
 
    .. image:: carlikebot.png
     :width: 400
-    :alt: Carlike Mobile Robot
+    :alt: Ackermann Mobile Robot
 
-2. To start *DiffBot* example open a terminal, source your ROS2-workspace and execute its launch file with
+2. To start *CarlikeBot* example open a terminal, source your ROS2-workspace and execute its launch file with
 
    .. code-block:: shell
 
-    ros2 launch ros2_control_demo_example_2 diffbot.launch.py
+    ros2 launch ros2_control_demo_example_11 carlikebot.launch.py
 
    The launch file loads and starts the robot hardware, controllers and opens *RViz*.
    In the starting terminal you will see a lot of output from the hardware implementation showing its internal states.
    This excessive printing is only added for demonstration. In general, printing to the terminal should be avoided as much as possible in a hardware interface implementation.
 
    If you can see an orange box in *RViz* everything has started properly.
-   Still, to be sure, let's introspect the control system before moving *DiffBot*.
+   Still, to be sure, let's introspect the control system before moving *CarlikeBot*.
 
 3. Check if the hardware interface loaded properly, by opening another terminal and executing
 
@@ -57,15 +58,21 @@ Tutorial steps
    .. code-block:: shell
 
     command interfaces
-          left_wheel_joint/velocity [available] [claimed]
-          right_wheel_joint/velocity [available] [claimed]
+        ackermann_steering_controller/angular/position [unavailable] [unclaimed]
+        ackermann_steering_controller/linear/velocity [unavailable] [unclaimed]
+        left_steering_joint/position [available] [claimed]
+        rear_left_wheel_joint/velocity [available] [claimed]
+        rear_right_wheel_joint/velocity [available] [claimed]
+        right_steering_joint/position [available] [claimed]
     state interfaces
-          left_wheel_joint/position
-          left_wheel_joint/velocity
-          right_wheel_joint/position
-          right_wheel_joint/velocity
+        left_steering_joint/position
+        rear_left_wheel_joint/position
+        rear_left_wheel_joint/velocity
+        rear_right_wheel_joint/position
+        rear_right_wheel_joint/velocity
+        right_steering_joint/position
 
-   The ``[claimed]`` marker on command interfaces means that a controller has access to command *DiffBot*.
+   The ``[claimed]`` marker on command interfaces means that a controller has access to command *CarlikeBot*.
 
 4. Check if controllers are running
 
@@ -77,47 +84,49 @@ Tutorial steps
 
    .. code-block:: shell
 
-    diffbot_base_controller[diff_drive_controller/DiffDriveController] active
-    joint_state_broadcaster[joint_state_broadcaster/JointStateBroadcaster] active
+    joint_state_broadcaster[joint_state_broadcaster/JointStateBroadcaster] active    
+    ackermann_steering_controller[ackermann_steering_controller/AckermannSteeringController] active
 
 5. If everything is fine, now you can send a command to *Diff Drive Controller* using ROS 2 CLI interface:
 
    .. code-block:: shell
 
-    ros2 topic pub --rate 30 /diffbot_base_controller/cmd_vel_unstamped geometry_msgs/msg/Twist "linear:
+    ros2 topic pub --rate 30 /ackermann_steering_controller/reference_unstamped geometry_msgs/msg/Twist "linear:
       x: 0.7
       y: 0.0
       z: 0.0
-    angular:
+      angular:
       x: 0.0
       y: 0.0
-      z: 1.0"
+      z: 0.01"
 
    You should now see an orange box circling in *RViz*.
    Also, you should see changing states in the terminal where launch file is started.
 
    .. code-block:: shell
 
-    [DiffBotSystemHardware]: Got command 43.33333 for 'left_wheel_joint'!
-    [DiffBotSystemHardware]: Got command 50.00000 for 'right_wheel_joint'!
+    [CarlikeBotSystemHardware]: Got command 0.00464 for 'left_steering_joint'
+    [CarlikeBotSystemHardware]: Got command 0.00465 for 'right_steering_joint'
+    [CarlikeBotSystemHardware]: Got command 13.97230 for 'rear_left_wheel_joint'
+    [CarlikeBotSystemHardware]: Got command 14.02830 for 'rear_right_wheel_joint'
 
 Files used for this demos
 --------------------------
 
-* Launch file: `diffbot.launch.py <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_2/bringup/launch/diffbot.launch.py>`__
-* Controllers yaml: `diffbot_controllers.yaml <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_2/bringup/config/diffbot_controllers.yaml>`__
-* URDF file: `diffbot.urdf.xacro <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_2/description/urdf/diffbot.urdf.xacro>`__
+* Launch file: `carlikebot.launch.py <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_11/bringup/launch/carlikebot.launch.py>`__
+* Controllers yaml: `carlikebot_controllers.yaml <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_11/bringup/config/carlikebot_controllers.yaml>`__
+* URDF file: `carlikebot.urdf.xacro <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_11/description/urdf/carlikebot.urdf.xacro>`__
 
-  * Description: `diffbot_description.urdf.xacro <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_2/description/urdf/diffbot_description.urdf.xacro>`__
-  * ``ros2_control`` tag: `diffbot.ros2_control.xacro <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_2/description/ros2_control/diffbot.ros2_control.xacro>`__
+  * Description: `carlikebot_description.urdf.xacro <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_11/description/urdf/carlikebot_description.urdf.xacro>`__
+  * ``ros2_control`` tag: `carlikebot.ros2_control.xacro <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_11/description/ros2_control/carlikebot.ros2_control.xacro>`__
 
-* RViz configuration: `diffbot.rviz <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_2/description/rviz/diffbot.rviz>`__
+* RViz configuration: `carlikebot.rviz <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_11/description/rviz/carlikebot.rviz>`__
 
-* Hardware interface plugin: `diffbot_system.cpp <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_2/hardware/diffbot_system.cpp>`__
+* Hardware interface plugin: `carlikebot_system.cpp <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_11/hardware/carlikebot_system.cpp>`__
 
 
 Controllers from this demo
 --------------------------
 
 * ``Joint State Broadcaster`` (`ros2_controllers repository <https://github.com/ros-controls/ros2_controllers/tree/{REPOS_FILE_BRANCH}/joint_state_broadcaster>`__): `doc <https://control.ros.org/{REPOS_FILE_BRANCH}/doc/ros2_controllers/joint_state_broadcaster/doc/userdoc.html>`__
-* ``Diff Drive Controller`` (`ros2_controllers repository <https://github.com/ros-controls/ros2_controllers/tree/{REPOS_FILE_BRANCH}/diff_drive_controller>`__): `doc <https://control.ros.org/{REPOS_FILE_BRANCH}/doc/ros2_controllers/diff_drive_controller/doc/userdoc.html>`__
+* ``Ackermann Steering Controller`` (`ros2_controllers repository <https://github.com/ros-controls/ros2_controllers/tree/{REPOS_FILE_BRANCH}/ackermann_steering_controller>`__): `doc <https://control.ros.org/{REPOS_FILE_BRANCH}/doc/ros2_controllers/ackermann_steering_controller/doc/userdoc.html>`__

example_11/hardware/carlikebot_system.cpp

@@ -301,7 +301,7 @@ hardware_interface::return_type ros2_control_demo_example_11 ::CarlikeBotSystemH
     hw_velocities_[i] = hw_commands_[i];
 
     RCLCPP_INFO(
-      rclcpp::get_logger("CarlikeBotSystemHardware"), "Got command %.5f for '%s'", hw_commands_[0],
+      rclcpp::get_logger("CarlikeBotSystemHardware"), "Got command %.5f for '%s'", hw_commands_[i],
       info_.joints[i].name.c_str());
   }
 

ros2_control_demos/package.xml

@@ -23,6 +23,7 @@
   <exec_depend>ros2_control_demo_example_8</exec_depend>
   <exec_depend>ros2_control_demo_example_9</exec_depend>
   <exec_depend>ros2_control_demo_example_11</exec_depend>
+  <exec_depend>ros2_control_demo_example_12</exec_depend>
 
   <export>
     <build_type>ament_cmake</build_type>