Merge branch 'master' into pr147_rebase

README.md

@@ -56,7 +56,9 @@ The following examples are part of this demo repository:
 
 * Example 11: "Car-like robot using steering controller library (tba.)"
 
-* Example 12: "Controller chaining example (tba.)"
+* Example 12: ["Controller chaining"](example_12)
+
+ The example shows a simple chainable controller and its integration to form a controller chain to control the joints of *RRBot*.
 
 * Example 13: "Multi-robot example (tba.)"
 

doc/index.rst

@@ -71,7 +71,8 @@ Example 10: "RRbot with GPIO interfaces (tba.)"
 
 Example 11: "Car-like robot using steering controller library (tba.)"
 
-Example 12: "Controller chaining example (tba.)"
+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*.
 
 Example 13: "Multi-robot example (tba.)"
 
@@ -264,4 +265,6 @@ 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 12: Controller chaining <../example_12/doc/userdoc.rst>
  Example 14: Modular robots with actuators not providing states <../example_14/doc/userdoc.rst>
+

example_12/CMakeLists.txt

@@ -0,0 +1,115 @@
+cmake_minimum_required(VERSION 3.16)
+project(ros2_control_demo_example_12 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
+ control_msgs
+ generate_parameter_library
+ controller_interface
+ parameter_traits
+ realtime_tools
+ std_msgs
+)
+
+# 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_12
+ SHARED
+ hardware/rrbot.cpp
+)
+target_compile_features(ros2_control_demo_example_12 PUBLIC cxx_std_17)
+target_include_directories(ros2_control_demo_example_12 PUBLIC
+$<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/hardware/include>
+$<INSTALL_INTERFACE:include/ros2_control_demo_example_12>
+)
+ament_target_dependencies(
+ ros2_control_demo_example_12 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_9_BUILDING_DLL")
+
+# Export hardware plugins
+pluginlib_export_plugin_description_file(hardware_interface ros2_control_demo_example_12.xml)
+
+# Add library of the controller and export it
+generate_parameter_library(passthrough_controller_parameters
+ controllers/src/passthrough_controller_parameters.yaml
+)
+
+add_library(passthrough_controller SHARED
+ controllers/src/passthrough_controller.cpp
+)
+target_include_directories(passthrough_controller PUBLIC
+$<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/controllers/include>
+$<INSTALL_INTERFACE:include/passthrough_controller>
+)
+target_link_libraries(passthrough_controller PUBLIC passthrough_controller_parameters)
+ament_target_dependencies(passthrough_controller PUBLIC ${THIS_PACKAGE_INCLUDE_DEPENDS})
+
+# Causes the visibility macros to use dllexport rather than dllimport,
+# which is appropriate when building the dll but not consuming it.
+target_compile_definitions(passthrough_controller PRIVATE "passthrough_controller_BUILDING_DLL")
+
+pluginlib_export_plugin_description_file(controller_interface passthrough_controller.xml)
+
+
+# INSTALL
+install(
+ DIRECTORY hardware/include/
+ DESTINATION include/ros2_control_demo_example_12
+)
+install(
+ DIRECTORY description/launch description/ros2_control description/urdf description/gazebo description/rviz
+ DESTINATION share/ros2_control_demo_example_12
+)
+install(
+ DIRECTORY bringup/launch bringup/config
+ DESTINATION share/ros2_control_demo_example_12
+)
+install(TARGETS ros2_control_demo_example_12
+ EXPORT export_ros2_control_demo_example_12
+ ARCHIVE DESTINATION lib
+ LIBRARY DESTINATION lib
+ RUNTIME DESTINATION bin
+)
+
+install(
+ DIRECTORY controllers/include/
+ DESTINATION include/passthrough_controller
+)
+
+install(TARGETS
+ passthrough_controller
+ passthrough_controller_parameters
+ EXPORT export_passthrough_controller
+ RUNTIME DESTINATION bin
+ ARCHIVE DESTINATION lib
+ LIBRARY DESTINATION lib
+)
+
+if(BUILD_TESTING)
+ find_package(ament_cmake_gtest REQUIRED)
+endif()
+
+## EXPORTS
+ament_export_targets(export_passthrough_controller HAS_LIBRARY_TARGET)
+ament_export_targets(export_ros2_control_demo_example_12 HAS_LIBRARY_TARGET)
+ament_export_dependencies(${THIS_PACKAGE_INCLUDE_DEPENDS})
+ament_package()

example_12/README.md

@@ -0,0 +1,5 @@
+# ros2_control_demo_example_12
+
+ This example demonstrates the switching between simulation and real hardware by means of the *RRBot* - or ''Revolute-Revolute Manipulator Robot''.
+
+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_12/doc/userdoc.html).

example_12/bringup/config/rrbot_chained_controllers.yaml

@@ -0,0 +1,44 @@
+controller_manager:
+ ros__parameters:
+ update_rate: 10 # Hz
+
+ joint_state_broadcaster:
+ type: joint_state_broadcaster/JointStateBroadcaster
+
+ joint1_position_controller:
+ type: passthrough_controller/PassthroughController
+
+ joint2_position_controller:
+ type: passthrough_controller/PassthroughController
+
+ position_controller:
+ type: passthrough_controller/PassthroughController
+
+ forward_position_controller:
+ type: forward_command_controller/ForwardCommandController
+
+# First-level controllers
+joint1_position_controller:
+ ros__parameters:
+ interfaces: ["joint1/position"]
+
+
+joint2_position_controller:
+ ros__parameters:
+ interfaces: ["joint2/position"]
+
+
+# Second-level controller
+position_controller:
+ ros__parameters:
+ interfaces:
+ - joint1_position_controller/joint1/position
+ - joint2_position_controller/joint2/position
+
+# Third-level controllers
+forward_position_controller:
+ ros__parameters:
+ joints:
+ - position_controller/joint1_position_controller/joint1
+ - position_controller/joint2_position_controller/joint2
+ interface_name: position

example_12/bringup/launch/launch_chained_controllers.launch.py

@@ -0,0 +1,51 @@
+# 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 RegisterEventHandler
+from launch.event_handlers import OnProcessExit
+from launch_ros.actions import Node
+
+
+def generate_launch_description():
+
+ position_controller_spawner = Node(
+ package="controller_manager",
+ executable="spawner",
+ arguments=["position_controller", "--controller-manager", "/controller_manager"],
+ )
+
+ forward_position_controller_spawner = Node(
+ package="controller_manager",
+ executable="spawner",
+ arguments=["forward_position_controller", "--controller-manager", "/controller_manager"],
+ )
+
+ # Delay start of forward_position_controller_spawner after `position_controller_spawner`
+ delay_forward_position_controller_spawner_after_position_controller_spawner = (
+ RegisterEventHandler(
+ event_handler=OnProcessExit(
+ target_action=position_controller_spawner,
+ on_exit=[forward_position_controller_spawner],
+ )
+ )
+ )
+
+ nodes = [
+ position_controller_spawner,
+ delay_forward_position_controller_spawner_after_position_controller_spawner,
+ ]
+
+ return LaunchDescription(nodes)

example_12/bringup/launch/rrbot.launch.py

@@ -0,0 +1,115 @@
+# 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 RegisterEventHandler
+from launch.event_handlers import OnProcessExit
+from launch.substitutions import Command, FindExecutable, PathJoinSubstitution
+
+from launch_ros.actions import Node
+from launch_ros.substitutions import FindPackageShare
+
+
+def generate_launch_description():
+ # Get URDF via xacro
+ robot_description_content = Command(
+ [
+ PathJoinSubstitution([FindExecutable(name="xacro")]),
+ " ",
+ PathJoinSubstitution(
+ [
+ FindPackageShare("ros2_control_demo_example_12"),
+ "urdf",
+ "rrbot.urdf.xacro",
+ ]
+ ),
+ ]
+ )
+ robot_description = {"robot_description": robot_description_content}
+
+ robot_controllers = PathJoinSubstitution(
+ [
+ FindPackageShare("ros2_control_demo_example_12"),
+ "config",
+ "rrbot_chained_controllers.yaml",
+ ]
+ )
+ rviz_config_file = PathJoinSubstitution(
+ [FindPackageShare("ros2_control_demo_example_12"), "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],
+ )
+
+ joint_state_broadcaster_spawner = Node(
+ package="controller_manager",
+ executable="spawner",
+ arguments=["joint_state_broadcaster", "--controller-manager", "/controller_manager"],
+ )
+
+ j1_controller_spawner = Node(
+ package="controller_manager",
+ executable="spawner",
+ arguments=["joint1_position_controller", "--controller-manager", "/controller_manager"],
+ )
+
+ j2_controller_spawner = Node(
+ package="controller_manager",
+ executable="spawner",
+ arguments=["joint2_position_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=[j1_controller_spawner, j2_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(nodes)