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Update all demos using the description from topic rather than the parameter #456

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merged 5 commits into from
Mar 3, 2024
Merged

Update all demos using the description from topic rather than the parameter #456

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cf80391
Updated demos 1, 10, 11, 12, 14
fmauch Feb 29, 2024
798f77c
Example 14: Check for NaN in write method
fmauch Mar 2, 2024
20c5d73
Fix formatting
fmauch Mar 2, 2024
a55a1a2
Update example_14/hardware/rrbot_actuator_without_feedback.cpp
fmauch Mar 2, 2024
e68ae94
Updated missing demos
fmauch Mar 2, 2024
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2 changes: 1 addition & 1 deletion example_1/bringup/launch/rrbot.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -67,7 +67,7 @@ def generate_launch_description():
control_node = Node(
package="controller_manager",
executable="ros2_control_node",
parameters=[robot_description, robot_controllers],
parameters=[robot_controllers],
output="both",
)
robot_state_pub_node = Node(
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2 changes: 1 addition & 1 deletion example_10/bringup/launch/rrbot.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -50,7 +50,7 @@ def generate_launch_description():
control_node = Node(
package="controller_manager",
executable="ros2_control_node",
parameters=[robot_description, robot_controllers],
parameters=[robot_controllers],
output="both",
)
robot_state_pub_node = Node(
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8 changes: 1 addition & 7 deletions example_11/bringup/launch/carlikebot.launch.py
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Expand Up @@ -78,7 +78,6 @@ def generate_launch_description():
parameters=[robot_controllers],
output="both",
remappings=[
("~/robot_description", "/robot_description"),
("/bicycle_steering_controller/tf_odometry", "/tf"),
],
condition=IfCondition(remap_odometry_tf),
Expand All @@ -88,19 +87,14 @@ def generate_launch_description():
executable="ros2_control_node",
parameters=[robot_controllers],
output="both",
remappings=[
("~/robot_description", "/robot_description"),
],
remappings=[],
condition=UnlessCondition(remap_odometry_tf),
)
robot_state_pub_bicycle_node = Node(
package="robot_state_publisher",
executable="robot_state_publisher",
output="both",
parameters=[robot_description],
remappings=[
("~/robot_description", "/robot_description"),
],
)
rviz_node = Node(
package="rviz2",
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2 changes: 1 addition & 1 deletion example_12/bringup/launch/rrbot.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -53,7 +53,7 @@ def generate_launch_description():
control_node = Node(
package="controller_manager",
executable="ros2_control_node",
parameters=[robot_description, robot_controllers],
parameters=[robot_controllers],
output="both",
)
robot_state_pub_node = Node(
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2 changes: 1 addition & 1 deletion ...p/launch/rrbot_modular_actuators_without_feedback_sensors_for_position_feedback.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -96,7 +96,7 @@ def generate_launch_description():
control_node = Node(
package="controller_manager",
executable="ros2_control_node",
parameters=[robot_description, robot_controllers],
parameters=[robot_controllers],
output="both",
)
robot_state_pub_node = Node(
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28 changes: 15 additions & 13 deletions example_14/hardware/rrbot_actuator_without_feedback.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -183,21 +183,23 @@ hardware_interface::return_type RRBotActuatorWithoutFeedback::read(
hardware_interface::return_type ros2_control_demo_example_14::RRBotActuatorWithoutFeedback::write(
const rclcpp::Time & /*time*/, const rclcpp::Duration & /*period*/)
{
// START: This part here is for exemplary purposes - Please do not copy to your production code
RCLCPP_INFO(
rclcpp::get_logger("RRBotActuatorWithoutFeedback"), "Writing command: %f", hw_joint_command_);

// Simulate sending commands to the hardware
std::ostringstream data;
data << hw_joint_command_;
RCLCPP_INFO(
rclcpp::get_logger("RRBotActuatorWithoutFeedback"), "Sending data command: %s",
data.str().c_str());
send(sock_, data.str().c_str(), strlen(data.str().c_str()), 0);
if (std::isfinite(hw_joint_command_))
{
// START: This part here is for exemplary purposes - Please do not copy to your production code
RCLCPP_INFO(
rclcpp::get_logger("RRBotActuatorWithoutFeedback"), "Writing command: %f", hw_joint_command_);

RCLCPP_INFO(rclcpp::get_logger("RRBotActuatorWithoutFeedback"), "Joints successfully written!");
// END: This part here is for exemplary purposes - Please do not copy to your production code
// Simulate sending commands to the hardware
std::ostringstream data;
data << hw_joint_command_;
RCLCPP_INFO(
rclcpp::get_logger("RRBotActuatorWithoutFeedback"), "Sending data command: %s",
data.str().c_str());
send(sock_, data.str().c_str(), strlen(data.str().c_str()), 0);

RCLCPP_INFO(rclcpp::get_logger("RRBotActuatorWithoutFeedback"), "Joints successfully written!");
// END: This part here is for exemplary purposes - Please do not copy to your production code
}
return hardware_interface::return_type::OK;
}

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2 changes: 1 addition & 1 deletion example_2/bringup/launch/diffbot.launch.py
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Expand Up @@ -73,7 +73,7 @@ def generate_launch_description():
control_node = Node(
package="controller_manager",
executable="ros2_control_node",
parameters=[robot_description, robot_controllers],
parameters=[robot_controllers],
output="both",
)
robot_state_pub_node = Node(
Expand Down
2 changes: 1 addition & 1 deletion example_3/bringup/launch/rrbot_system_multi_interface.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -119,7 +119,7 @@ def generate_launch_description():
control_node = Node(
package="controller_manager",
executable="ros2_control_node",
parameters=[robot_description, robot_controllers],
parameters=[robot_controllers],
output="both",
)
robot_state_pub_node = Node(
Expand Down
2 changes: 1 addition & 1 deletion example_4/bringup/launch/rrbot_system_with_sensor.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -111,7 +111,7 @@ def generate_launch_description():
control_node = Node(
package="controller_manager",
executable="ros2_control_node",
parameters=[robot_description, robot_controllers],
parameters=[robot_controllers],
output="both",
)
robot_state_pub_node = Node(
Expand Down
2 changes: 1 addition & 1 deletion example_5/bringup/launch/rrbot_system_with_external_sensor.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -111,7 +111,7 @@ def generate_launch_description():
control_node = Node(
package="controller_manager",
executable="ros2_control_node",
parameters=[robot_description, robot_controllers],
parameters=[robot_controllers],
output="both",
)
robot_state_pub_node = Node(
Expand Down
2 changes: 1 addition & 1 deletion example_6/bringup/launch/rrbot_modular_actuators.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -119,7 +119,7 @@ def generate_launch_description():
control_node = Node(
package="controller_manager",
executable="ros2_control_node",
parameters=[robot_description, robot_controllers],
parameters=[robot_controllers],
output="both",
)
robot_state_pub_node = Node(
Expand Down
2 changes: 1 addition & 1 deletion example_7/bringup/launch/r6bot_controller.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -52,7 +52,7 @@ def generate_launch_description():
control_node = Node(
package="controller_manager",
executable="ros2_control_node",
parameters=[robot_description, robot_controllers],
parameters=[robot_controllers],
remappings=[
(
"/forward_position_controller/commands",
Expand Down
2 changes: 1 addition & 1 deletion example_8/bringup/launch/rrbot_transmissions_system_position_only.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -96,7 +96,7 @@ def generate_launch_description():
control_node = Node(
package="controller_manager",
executable="ros2_control_node",
parameters=[robot_description, robot_controllers],
parameters=[robot_controllers],
output="both",
)
robot_state_pub_node = Node(
Expand Down
2 changes: 1 addition & 1 deletion example_9/bringup/launch/rrbot.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -68,7 +68,7 @@ def generate_launch_description():
control_node = Node(
package="controller_manager",
executable="ros2_control_node",
parameters=[robot_description, robot_controllers],
parameters=[robot_controllers],
output="both",
)
robot_state_pub_node = Node(
Expand Down
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