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Update Example 9 to use Gazebo Sim and .xml launch files #486

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Update Example 9 to use Gazebo Sim and .xml launch files #486

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2 changes: 1 addition & 1 deletion example_9/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -49,7 +49,7 @@ install(
DESTINATION include/ros2_control_demo_example_9
)
install(
DIRECTORY description/launch description/ros2_control description/urdf description/gazebo
DIRECTORY description/launch description/ros2_control description/urdf description/gazebo worlds
DESTINATION share/ros2_control_demo_example_9
)
install(
Expand Down
43 changes: 29 additions & 14 deletions ...gup/launch/rrbot_gazebo_classic.launch.py → ...bringup/launch/rrbot_gazebo_sim.launch.py
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Expand Up @@ -36,13 +36,6 @@ def generate_launch_description():
# Initialize Arguments
gui = LaunchConfiguration("gui")

gazebo = IncludeLaunchDescription(
PythonLaunchDescriptionSource(
[PathJoinSubstitution([FindPackageShare("gazebo_ros"), "launch", "gazebo.launch.py"])]
),
launch_arguments={"verbose": "false"}.items(),
)

# Get URDF via xacro
robot_description_content = Command(
[
Expand All @@ -52,13 +45,10 @@ def generate_launch_description():
[FindPackageShare("ros2_control_demo_example_9"), "urdf", "rrbot.urdf.xacro"]
),
" ",
"use_gazebo_classic:=true",
"use_gazebo_sim:=true",
]
)
robot_description = {"robot_description": robot_description_content}
rviz_config_file = PathJoinSubstitution(
[FindPackageShare("ros2_control_demo_description"), "rrbot/rviz", "rrbot.rviz"]
)

node_robot_state_publisher = Node(
package="robot_state_publisher",
Expand All @@ -67,10 +57,30 @@ def generate_launch_description():
parameters=[robot_description],
)

# Start Gazebo
gazebo_world = PathJoinSubstitution(
[FindPackageShare("ros2_control_demo_example_9"), "worlds", "empty.world"]
)
gazebo = IncludeLaunchDescription(
PythonLaunchDescriptionSource(
[PathJoinSubstitution([FindPackageShare("ros_gz_sim"), "launch", "gz_sim.launch.py"])]
),
launch_arguments=[("gz_args", [" -r -v 4 ", gazebo_world])],
)

spawn_entity = Node(
package="gazebo_ros",
executable="spawn_entity.py",
arguments=["-topic", "robot_description", "-entity", "rrbot_system_position"],
package="ros_gz_sim",
executable="create",
arguments=["-topic", "robot_description", "-name", "rrbot_system_position"],
output="screen",
)

clock_bridge = Node(
package="ros_gz_bridge",
executable="parameter_bridge",
name="clock_bridge",
parameters=[{"use_sim_time": True}],
arguments=["/clock@rosgraph_msgs/msg/Clock[ignition.msgs.Clock"],
output="screen",
)

Expand All @@ -85,6 +95,10 @@ def generate_launch_description():
executable="spawner",
arguments=["forward_position_controller", "--controller-manager", "/controller_manager"],
)

rviz_config_file = PathJoinSubstitution(
[FindPackageShare("ros2_control_demo_description"), "rrbot/rviz", "rrbot.rviz"]
)
rviz_node = Node(
package="rviz2",
executable="rviz2",
Expand All @@ -98,6 +112,7 @@ def generate_launch_description():
gazebo,
node_robot_state_publisher,
spawn_entity,
clock_bridge,
joint_state_broadcaster_spawner,
robot_controller_spawner,
rviz_node,
Expand Down
64 changes: 64 additions & 0 deletions example_9/bringup/launch/rrbot_gazebo_sim.launch.xml
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@@ -0,0 +1,64 @@
<!--
Copyright (c) 2024, 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.


Source of this file are templates in [RosTeamWorkspace](https://github.com/StoglRobotics/ros_team_workspace) repository.

Author: Dr. Denis
-->

<launch>
<arg name="gui"
default="false"
description="Start RViz2 automatically with this launch file."/>

<!-- Load description and start controllers -->
<let name="robot_description_content" value="$(command '$(find-exec xacro) $(find-pkg-share ros2_control_demo_example_9)/urdf/rrbot.urdf.xacro use_gazebo_sim:=true')" />

<node pkg="robot_state_publisher" exec="robot_state_publisher" output="both">
<param name="robot_description" value="$(var robot_description_content)" />
<param name="use_sim_time" value="true" />
</node>

<!-- Start Gazebo -->
<let name="gazebo_world" value="$(find-pkg-share ros2_control_demo_example_9)/worlds/empty.world" />
<include file="$(find-pkg-share ros_gz_sim)/launch/gz_sim.launch.py" >
<arg name="gz_args" value=" -r -v 4 $(var gazebo_world)"/>
</include>

<node pkg="ros_gz_bridge" exec="parameter_bridge" args="
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Why not naming the node clock_bridge as in the python equivalent ?

/clock@rosgraph_msgs/msg/Clock[ignition.msgs.Clock"
output="screen">
</node>

<!-- Create robot in Gazebo -->
<node pkg="ros_gz_sim" exec="create" output="screen" args="-topic /robot_description"/>

<!-- Start Controllers -->
<!--joint_state_braodcaster_spawner-->
<node pkg="controller_manager" exec="spawner" args="joint_state_broadcaster">
<param name="use_sim_time" value="true" />
</node>
<!--Mobile Base Controller-->
<node pkg="controller_manager" exec="spawner" args="forward_position_controller">
<param name="use_sim_time" value="true" />
</node>

<!-- Rviz -->
<node if="$(var gui)" pkg="rviz2" exec="rviz2" output="log" args="-d $(find-pkg-share $(var ros2_control_demo_description))/rrbot/rviz/rrbot.rviz">
<param name="use_sim_time" value="true" />
</node>

</launch>
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Dear @destogl maybe we do not need the equivalent xml file here, as it is not in the other examples.

7 changes: 5 additions & 2 deletions example_9/description/gazebo/rrbot.gazebo.xacro
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Expand Up @@ -7,10 +7,13 @@ https://github.com/ros-simulation/gazebo_ros_demos/blob/kinetic-devel/rrbot_desc

<xacro:macro name="rrbot_gazebo" params="prefix">

<!-- ros_control plugin -->
<!-- ros2_control GZ Sim plugin -->
<gazebo reference="world">
</gazebo>
<gazebo>
<plugin filename="libgazebo_ros2_control.so" name="gazebo_ros2_control">
<plugin filename="gz_ros2_control-system" name="gz_ros2_control::GazeboSimROS2ControlPlugin">
<parameters>$(find ros2_control_demo_example_9)/config/rrbot_controllers.yaml</parameters>
<controller_manager_node_name>${prefix}controller_manager</controller_manager_node_name>
</plugin>
</gazebo>

Expand Down
8 changes: 4 additions & 4 deletions example_9/description/ros2_control/rrbot.ros2_control.xacro
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@@ -1,14 +1,14 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">

<xacro:macro name="rrbot_ros2_control" params="name prefix use_gazebo_classic:=^|false">
<xacro:macro name="rrbot_ros2_control" params="name prefix use_gazebo_sim:=^|false">

<ros2_control name="${name}" type="system">
<hardware>
<xacro:if value="${use_gazebo_classic}">
<plugin>gazebo_ros2_control/GazeboSystem</plugin>
<xacro:if value="${use_gazebo_sim}">
<plugin>gz_ros2_control/GazeboSimSystem</plugin>
</xacro:if>
<xacro:unless value="${use_gazebo_classic}">
<xacro:unless value="${use_gazebo_sim}">
<plugin>ros2_control_demo_example_9/RRBotSystemPositionOnlyHardware</plugin>
<param name="example_param_hw_start_duration_sec">0</param>
<param name="example_param_hw_stop_duration_sec">3.0</param>
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6 changes: 3 additions & 3 deletions example_9/description/urdf/rrbot.urdf.xacro
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Expand Up @@ -6,7 +6,7 @@ https://github.com/ros-simulation/gazebo_ros_demos/blob/kinetic-devel/rrbot_desc
-->
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="2dof_robot">
<xacro:arg name="prefix" default="" />
<xacro:arg name="use_gazebo_classic" default="false" />
<xacro:arg name="use_gazebo_sim" default="false" />

<!-- Import RRBot macro -->
<xacro:include filename="$(find ros2_control_demo_description)/rrbot/urdf/rrbot_description.urdf.xacro" />
Expand All @@ -25,9 +25,9 @@ https://github.com/ros-simulation/gazebo_ros_demos/blob/kinetic-devel/rrbot_desc
</xacro:rrbot>

<xacro:rrbot_ros2_control
name="RRBot" prefix="$(arg prefix)" use_gazebo_classic="$(arg use_gazebo_classic)"/>
name="RRBot" prefix="$(arg prefix)" use_gazebo_sim="$(arg use_gazebo_sim)"/>

<xacro:if value="$(arg use_gazebo_classic)">
<xacro:if value="$(arg use_gazebo_sim)">
<!-- Import Gazebo Classic definitions + plugin -->
<xacro:include filename="$(find ros2_control_demo_example_9)/gazebo/rrbot.gazebo.xacro" />
<xacro:rrbot_gazebo prefix="$(arg prefix)"/>
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2 changes: 1 addition & 1 deletion example_9/package.xml
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Expand Up @@ -24,7 +24,7 @@
<exec_depend>controller_manager</exec_depend>
<exec_depend>forward_command_controller</exec_depend>
<exec_depend>gazebo_ros</exec_depend>
<exec_depend>gazebo_ros2_control</exec_depend>
<exec_depend>gz_ros2_control</exec_depend>
<exec_depend>joint_state_broadcaster</exec_depend>
<exec_depend>joint_state_publisher_gui</exec_depend>
<exec_depend>joint_trajectory_controller</exec_depend>
Expand Down
72 changes: 72 additions & 0 deletions example_9/worlds/empty.world
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@@ -0,0 +1,72 @@
<?xml version="1.0" ?>
<sdf version="1.6">
<world name="empty">
<physics name="1ms" type="ignored">
<max_step_size>0.001</max_step_size>
<real_time_factor>1.0</real_time_factor>
</physics>
<plugin
filename="gz-sim-physics-system"
name="gz::sim::systems::Physics">
</plugin>
<plugin
filename="gz-sim-user-commands-system"
name="gz::sim::systems::UserCommands">
</plugin>
<plugin
filename="gz-sim-scene-broadcaster-system"
name="gz::sim::systems::SceneBroadcaster">
</plugin>
<plugin
filename="gz-sim-contact-system"
name="gz::sim::systems::Contact">
</plugin>
<plugin
filename="gz-sim-sensors-system"
name="gz::sim::systems::Sensors">
<render_engine>ogre2</render_engine>
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It looks like this is the only difference with the default gz-sim empty.world file.

Do we need it here ?

</plugin>

<light type="directional" name="sun">
<cast_shadows>true</cast_shadows>
<pose>0 0 10 0 0 0</pose>
<diffuse>0.8 0.8 0.8 1</diffuse>
<specular>0.2 0.2 0.2 1</specular>
<attenuation>
<range>1000</range>
<constant>0.9</constant>
<linear>0.01</linear>
<quadratic>0.001</quadratic>
</attenuation>
<direction>-0.5 0.1 -0.9</direction>
</light>

<model name="ground_plane">
<static>true</static>
<link name="link">
<collision name="collision">
<geometry>
<plane>
<normal>0 0 1</normal>
<size>100 100</size>
</plane>
</geometry>
</collision>
<visual name="visual">
<geometry>
<plane>
<normal>0 0 1</normal>
<size>100 100</size>
</plane>
</geometry>
<material>
<ambient>0.8 0.8 0.8 1</ambient>
<diffuse>0.8 0.8 0.8 1</diffuse>
<specular>0.8 0.8 0.8 1</specular>
</material>
</visual>
</link>
</model>

</world>
</sdf>
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