[Example 14] Modular robot with actuators not providing states

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

@@ -36,6 +36,7 @@ jobs:
  ros2_control_demo_example_9
  ros2_control_demo_example_10
  ros2_control_demo_example_12
+ ros2_control_demo_example_14
 
  vcs-repo-file-url: |
  https://raw.githubusercontent.com/${{ github.repository }}/${{ github.sha }}/ros2_control_demos-not-released.${{ env.ROS_DISTRO }}.repos?token=${{ secrets.GITHUB_TOKEN }}

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

@@ -31,6 +31,7 @@ jobs:
  ros2_control_demo_example_9
  ros2_control_demo_example_10
  ros2_control_demo_example_12
+ ros2_control_demo_example_14
 
  ament_lint_100:
  name: ament_${{ matrix.linter }}
@@ -58,3 +59,4 @@ jobs:
  ros2_control_demo_example_8
  ros2_control_demo_example_9
  ros2_control_demo_example_12
+ ros2_control_demo_example_14

README.md

@@ -63,6 +63,8 @@ The following examples are part of this demo repository:
 
 * Example 13: "Multi-robot example (tba.)"
 
+* Example 14: ["Modular robots with actuators not providing states and with additional sensors"](example_14)
+
 ## Getting started
 
 The repository is structured into `example_XY` folders that fully contained packages with names `ros2_control_demos_example_XY`.

doc/index.rst

@@ -52,10 +52,10 @@ Example 3: "RRBot with multiple interfaces"
 Example 4: "Industrial robot with integrated sensor"
  *RRBot* with an integrated sensor.
 
-Example 5: "Industrial Robots with externally connected sensor"
+Example 5: "Industrial robot with externally connected sensor"
  *RRBot* with an externally connected sensor.
 
-Example 6: "Modular Robots with separate communication to each actuator"
+Example 6: "Modular robot with separate communication to each actuator"
  The example shows how to implement robot hardware with separate communication to each actuator.
 
 Example 7: "6-DOF robot"
@@ -70,9 +70,16 @@ Example 9: "Gazebo Classic"
 Example 10: "GPIO interfaces"
  Industrial robot with GPIO interfaces
 
+Example 11: "Car-like robot using steering controller library (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.)"
+
+Example 14: "Modular robots with actuators not providing states and with additional sensors"
+
+
 .. _ros2_control_demos_install:
 
 =====================
@@ -264,3 +271,4 @@ Examples
  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>
+ Example 14: Modular robots with actuators not providing states <../example_14/doc/userdoc.rst>

example_14/CMakeLists.txt

@@ -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()

example_14/README.md

@@ -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).

example_14/bringup/config/rrbot_modular_actuators_without_feedback_sensors_for_position_feedback.yaml

@@ -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

example_14/bringup/launch/rrbot_modular_actuators_without_feedback_sensors_for_position_feedback.launch.py

@@ -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)