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[Example 10] RRbot with GPIO interfaces #256

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Sep 25, 2023
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c61fd3d
Initial commit for GPIO example
christophfroehlich Mar 17, 2023
2f42b7f
First gpio controller for single interface
christophfroehlich Mar 17, 2023
0c8cb05
Fix hw interfaces
christophfroehlich Mar 17, 2023
8c1eb26
We don't need rviz for the demo
christophfroehlich Mar 17, 2023
68c401b
Use consistent topics for gpio_controller
christophfroehlich Mar 17, 2023
1bc6974
Add parameters for gpio_controller interface names
christophfroehlich Mar 17, 2023
0fe244e
Add URDF checks to hw interface
christophfroehlich Mar 17, 2023
3735279
Update readme and copyright
christophfroehlich Mar 17, 2023
520e95d
Update readme
christophfroehlich Mar 17, 2023
0947244
Fix readme
christophfroehlich Mar 17, 2023
2c8b20c
Revert example_1/doc change
christophfroehlich Mar 17, 2023
f8846db
Cleanup namespace and add visibilty macros
christophfroehlich Mar 20, 2023
6232cdb
Merge branch 'master' into example_10
christophfroehlich Mar 23, 2023
42dc01b
Add example_10 to CI
christophfroehlich Mar 23, 2023
5859bda
Add readme in example folder
christophfroehlich Mar 27, 2023
66ebf60
Merge branch 'master' into example_10
christophfroehlich Apr 11, 2023
56a1d98
Merge branch 'master' into example_10
christophfroehlich May 31, 2023
6db26f5
Merge branch 'master' into example_10
christophfroehlich Jun 7, 2023
67606ec
Add github_url and {REPOS_FILE_BRANCH}
christophfroehlich Jun 7, 2023
00545c0
Update list in rst
christophfroehlich Jun 7, 2023
ab28c3e
Merge branch 'master' into example_10
christophfroehlich Jun 12, 2023
c0209df
Merge branch 'master' into example_10
christophfroehlich Aug 11, 2023
2fc0521
Fix whitespaces
christophfroehlich Aug 11, 2023
d10c8db
Merge branch 'master' into example_10
christophfroehlich Aug 18, 2023
191be50
Use description package
christophfroehlich Aug 18, 2023
0a074b3
Apply suggestions from code review to README
christophfroehlich Aug 29, 2023
7d4cabc
Update README.md
christophfroehlich Aug 29, 2023
457f931
Apply suggestions from code review
christophfroehlich Sep 6, 2023
f8cf432
Use std::fill
christophfroehlich Sep 6, 2023
98143b4
Apply suggestions from code review
christophfroehlich Sep 6, 2023
affc539
Fix format
christophfroehlich Sep 6, 2023
060e150
Merge branch 'master' into example_10
christophfroehlich Sep 6, 2023
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1 change: 1 addition & 0 deletions .github/workflows/ci-coverage-build.yml
Original file line number Diff line number Diff line change
Expand Up @@ -34,6 +34,7 @@ jobs:
ros2_control_demo_example_7
ros2_control_demo_example_8
ros2_control_demo_example_9
ros2_control_demo_example_10
ros2_control_demo_example_12

vcs-repo-file-url: |
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1 change: 1 addition & 0 deletions .github/workflows/ci-ros-lint.yml
Original file line number Diff line number Diff line change
Expand Up @@ -29,6 +29,7 @@ jobs:
ros2_control_demo_example_7
ros2_control_demo_example_8
ros2_control_demo_example_9
ros2_control_demo_example_10
ros2_control_demo_example_12

ament_lint_100:
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5 changes: 3 additions & 2 deletions README.md
Original file line number Diff line number Diff line change
Expand Up @@ -31,7 +31,6 @@ The following examples are part of this demo repository:

*RRBot* with an integrated sensor.


* Example 5: ["Industrial robots with externally connected sensor"](example_5)

*RRBot* with an externally connected sensor.
Expand All @@ -52,7 +51,9 @@ The following examples are part of this demo repository:

Demonstrates how to switch between simulation and hardware.

* Example 10: "RRbot with GPIO interfaces (tba.)"
* Example 10: ["Industrial robot with GPIO interfaces"](example_10)

*RRBot* with GPIO interfaces.

* Example 11: "Car-like robot using steering controller library (tba.)"

Expand Down
4 changes: 4 additions & 0 deletions doc/index.rst
Original file line number Diff line number Diff line change
Expand Up @@ -67,6 +67,9 @@ Example 8: "Using transmissions"
Example 9: "Gazebo Classic"
Demonstrates how to switch between simulation and hardware.

Example 10: "GPIO interfaces"
Industrial robot with GPIO interfaces

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*.

Expand Down Expand Up @@ -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 10: Industrial robot with GPIO interfaces <../example_10/doc/userdoc.rst>
Example 12: Controller chaining <../example_12/doc/userdoc.rst>
84 changes: 84 additions & 0 deletions example_10/CMakeLists.txt
Original file line number Diff line number Diff line change
@@ -0,0 +1,84 @@
cmake_minimum_required(VERSION 3.16)
project(ros2_control_demo_example_10 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
control_msgs
std_msgs
pluginlib
rclcpp
rclcpp_lifecycle
controller_interface
)

# 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_10
SHARED
hardware/rrbot.cpp
controllers/gpio_controller.cpp
)
target_compile_features(ros2_control_demo_example_10 PUBLIC cxx_std_17)
target_include_directories(ros2_control_demo_example_10 PUBLIC
$<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/hardware/include>
$<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/controllers/include>
$<INSTALL_INTERFACE:include/ros2_control_demo_example_10>
)
ament_target_dependencies(
ros2_control_demo_example_10 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_10_BUILDING_DLL")

# Export hardware plugins
pluginlib_export_plugin_description_file(hardware_interface ros2_control_demo_example_10.xml)
# Export controllers
pluginlib_export_plugin_description_file(controller_interface ros2_control_demo_example_10.xml)

# INSTALL
install(
DIRECTORY hardware/include/
DESTINATION include/ros2_control_demo_example_10
)
install(
DIRECTORY controllers/include/
DESTINATION include/ros2_control_demo_example_10
)
install(
DIRECTORY description/launch description/ros2_control description/urdf
DESTINATION share/ros2_control_demo_example_10
)
install(
DIRECTORY bringup/launch bringup/config
DESTINATION share/ros2_control_demo_example_10
)
install(TARGETS ros2_control_demo_example_10
EXPORT export_ros2_control_demo_example_10
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_10 HAS_LIBRARY_TARGET)
ament_export_dependencies(${THIS_PACKAGE_INCLUDE_DEPENDS})
ament_package()
5 changes: 5 additions & 0 deletions example_10/README.md
Original file line number Diff line number Diff line change
@@ -0,0 +1,5 @@
# ros2_control_demo_example_10

*RRBot* - or ''Revolute-Revolute Manipulator Robot'' - with GPIO interfaces.

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_10/doc/userdoc.html).
31 changes: 31 additions & 0 deletions example_10/bringup/config/rrbot_controllers.yaml
Original file line number Diff line number Diff line change
@@ -0,0 +1,31 @@
controller_manager:
ros__parameters:
update_rate: 1 # Hz

joint_state_broadcaster:
type: joint_state_broadcaster/JointStateBroadcaster

forward_position_controller:
type: forward_command_controller/ForwardCommandController

gpio_controller:
type: ros2_control_demo_example_10/GPIOController


forward_position_controller:
ros__parameters:
joints:
- joint1
- joint2
interface_name: position

gpio_controller:
ros__parameters:
inputs:
- flange_analog_IOs/analog_output1
- flange_analog_IOs/analog_input1
- flange_analog_IOs/analog_input2
- flange_vacuum/vacuum
outputs:
- flange_analog_IOs/analog_output1
- flange_vacuum/vacuum
11 changes: 11 additions & 0 deletions example_10/bringup/config/rrbot_forward_position_publisher.yaml
Original file line number Diff line number Diff line change
@@ -0,0 +1,11 @@
publisher_forward_position_controller:
ros__parameters:

wait_sec_between_publish: 5
publish_topic: "/forward_position_controller/commands"

goal_names: ["pos1", "pos2", "pos3", "pos4"]
pos1: [0.785, 0.785]
pos2: [0, 0]
pos3: [-0.785, -0.785]
pos4: [0, 0]
97 changes: 97 additions & 0 deletions example_10/bringup/launch/rrbot.launch.py
Original file line number Diff line number Diff line change
@@ -0,0 +1,97 @@
# 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_10"),
"urdf",
"rrbot.urdf.xacro",
]
),
]
)
robot_description = {"robot_description": robot_description_content}

robot_controllers = PathJoinSubstitution(
[
FindPackageShare("ros2_control_demo_example_10"),
"config",
"rrbot_controllers.yaml",
]
)

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],
)

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=["forward_position_controller", "-c", "/controller_manager"],
)

gpio_controller_spawner = Node(
package="controller_manager",
executable="spawner",
arguments=["gpio_controller", "-c", "/controller_manager"],
)

# 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,
gpio_controller_spawner,
delay_robot_controller_spawner_after_joint_state_broadcaster_spawner,
]

return LaunchDescription(nodes)
Original file line number Diff line number Diff line change
@@ -0,0 +1,41 @@
# 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.substitutions import PathJoinSubstitution
from launch_ros.actions import Node
from launch_ros.substitutions import FindPackageShare


def generate_launch_description():

position_goals = PathJoinSubstitution(
[
FindPackageShare("ros2_control_demo_example_1"),
"config",
"rrbot_forward_position_publisher.yaml",
]
)

return LaunchDescription(
[
Node(
package="ros2_controllers_test_nodes",
executable="publisher_forward_position_controller",
name="publisher_forward_position_controller",
parameters=[position_goals],
output="both",
)
]
)
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