Ros2 add components

panther_bringup/README.md

@@ -31,7 +31,8 @@ The package contains the default configuration and launch files necessary to sta
 - `use_sim` [*bool*, default: **false**]: whether simulation is used.
 - `user_led_animations_file` [*string*, default: **None**]: path to a YAML file with a description of the user defined animations.
 - `wheel_config_path` [*string*, default: **$(find panther_description)/config/<wheel_type arg>.yaml**]: path to YAML file with wheel specification. Arguments become required if `wheel_type` is set to **custom**.
-- `wheel_type` [*string*, default: **WH01**]: type of wheel, possible are: **WH01** - offroad, **WH02** - mecanum, **WH04** - small pneumatic, and **custom** - custom wheel types (requires setting `wheel_config_path` argument accordingly).
+- `wheel_type` [*string*, default: **WH01**]: type of wheel, possible are: **WH01** - off-road, **WH02** - mecanum, **WH04** - small pneumatic, and **custom** - custom wheel types (requires setting `wheel_config_path` argument accordingly).
+- `components_config_path` [*string*, default: **None**]: Additional components configuration file. Components described in this file          are dynamically included in Panther's urdf. Panther options are described in [the manual](https://husarion.com/manuals/panther/panther-options. Example of configuration you can find [config/components.yaml](config/components.yaml)
 
 [//]: # (ROS_API_PACKAGE_START)
 [//]: # (ROS_API_PACKAGE_NAME_START)

panther_bringup/config/components.yaml

@@ -0,0 +1,25 @@
+# By default panther is loaded without any components.
+
+components: []
+
+# If you want to add for example LDR01, LDR06 and CAM01 to your Panther look at this example below:
+
+# components:
+#   - type: LDR01
+#     parent_link: cover_link
+#     xyz: 0.0 0.1 0.0
+#     rpy: 0.0 0.0 0.0
+#     device_namespace: main_lidar
+
+#   - type: LDR06
+#     parent_link: cover_link
+#     xyz: 0.0 -0.1 0.0
+#     rpy: 0.0 0.0 0.0
+#     device_namespace: second_lidar
+
+#   - type: CAM01
+#     name: camera
+#     parent_link: cover_link
+#     xyz: 0.1 0.0 0.0
+#     rpy: 0.0 0.0 0.0
+#     device_namespace: front_cam

panther_controller/launch/controller.launch.py

@@ -84,13 +84,26 @@ def generate_launch_description():
             "When set to False, users should publish their own robot description."
         ),
     )
+
     namespace = LaunchConfiguration("namespace")
     declare_namespace_arg = DeclareLaunchArgument(
         "namespace",
         default_value=EnvironmentVariable("ROBOT_NAMESPACE", default_value=""),
         description="Add namespace to all launched nodes.",
     )
 
+    components_config_path = LaunchConfiguration("components_config_path")
+    declare_components_config_path_arg = DeclareLaunchArgument(
+        "components_config_path",
+        default_value="None",
+        description=(
+            "Additional components configuration file. Components described in this file "
+            "are dynamically included in Panther's urdf."
+            "Panther options are described here "
+            "https://husarion.com/manuals/panther/panther-options/"
+        ),
+    )
+
     # Get URDF via xacro
     robot_description_content = Command(
         [
@@ -129,6 +142,8 @@ def generate_launch_description():
             os.environ.get("PANTHER_IMU_ORIENTATION_Y", "0.0"),
             " namespace:=",
             namespace,
+            " components_config_path:=",
+            components_config_path,
         ]
     )
     robot_description = {"robot_description": robot_description_content}
@@ -240,6 +255,7 @@ def generate_launch_description():
         declare_simulation_engine_arg,
         declare_publish_robot_state_arg,
         declare_namespace_arg,
+        declare_components_config_path_arg,
         SetParameter(name="use_sim_time", value=use_sim),
         control_node,
         robot_state_pub_node,

panther_description/urdf/gazebo.urdf.xacro

@@ -77,7 +77,6 @@
 
     <gazebo reference="${reference_frame}">
       <sensor name="${ns}imu" type="imu">
-        <plugin filename="ignition-gazebo-imu-system" name="ignition::gazebo::systems::Imu" />
         <always_on>true</always_on>
         <update_rate>50</update_rate>
         <topic>${ns}imu/data_raw</topic>

panther_description/urdf/panther.urdf.xacro

@@ -3,7 +3,8 @@
 
   <xacro:arg name="panther_version" default="1.0" />
   <xacro:arg name="use_sim" default="false" />
-  <xacro:arg name="use_gpu" default="false" />
+  <!-- if lidars have to work correctly, use_gpu has to be true. -->
+  <xacro:arg name="use_gpu" default="true" />
   <xacro:arg name="imu_pos_x" default="0.169" />
   <xacro:arg name="imu_pos_y" default="0.025" />
   <xacro:arg name="imu_pos_z" default="0.092" />
@@ -36,4 +37,16 @@
     battery_config_file="$(arg battery_config_file)"
     namespace="$(arg namespace)" />
 
+  <xacro:arg name="components_config_path" default="$(find panther_bringup)/config/components.yaml" />
+  <xacro:property name="components_config_path_property" value="$(arg components_config_path)" />
+
+  <xacro:unless value="${components_config_path_property == 'None'}">
+    <xacro:include filename="$(find ros_components_description)/urdf/components.urdf.xacro"
+      ns="husarion_components" />
+
+    <xacro:husarion_components.create_components
+      components_config_path="${components_config_path_property}"
+      namespace="$(arg namespace)"
+    />
+  </xacro:unless>
 </robot>

panther_gazebo/launch/spawn.launch.py

@@ -88,7 +88,7 @@ def launch_setup(context):
         gz_bridge = Node(
             package="ros_gz_bridge",
             executable="parameter_bridge",
-            name="gz_bridge",
+            name="panther_base_gz_bridge",
             parameters=[{"config_file": gz_bridge_config_path}],
             namespace=robot_name,
             output="screen",
@@ -116,6 +116,21 @@ def launch_setup(context):
             }.items(),
         )
 
+        gz_components = IncludeLaunchDescription(
+            PythonLaunchDescriptionSource(
+                PathJoinSubstitution(
+                    [
+                        FindPackageShare("ros_components_description"),
+                        "launch",
+                        "gz_components.launch.py",
+                    ]
+                )
+            ),
+            launch_arguments={
+                "namespace": namespace,
+            }.items(),
+        )
+
         ns_prefix = robot_name + "/" if robot_name else robot_name
 
         world_transform = Node(
@@ -128,7 +143,9 @@ def launch_setup(context):
             condition=IfCondition(add_world_transform),
         )
 
-        # bringup.launch.py has a timerAction in it. If the timerAction in simulation.launch.py ​​is smaller than bringup.launch.py, the namespace will be overwritten, resulting creating nodes with the same namespace.
+        # bringup.launch.py has a timerAction in it. If the timerAction in simulation.launch.py
+        # ​​is smaller than bringup.launch.py, the namespace will be overwritten,
+        # resulting creating nodes with the same namespace.
         group = TimerAction(
             period=10.0 * idx,
             actions=[
@@ -137,6 +154,7 @@ def launch_setup(context):
                 gz_bridge,
                 bringup_launch,
                 world_transform,
+                gz_components,
             ],
         )
         spawn_group.append(group)