Add tricycle controller demo (#145)

ros-controls · Aug 15, 2022 · 55251df · 55251df
1 parent 596186a
commit 55251df
Show file tree

Hide file tree

Showing 9 changed files with 625 additions and 3 deletions.
diff --git a/README.md b/README.md
@@ -223,7 +223,8 @@ You can run some of the configuration running the following commands:
 ros2 launch gazebo_ros2_control_demos cart_example_position.launch.py
 ros2 launch gazebo_ros2_control_demos cart_example_velocity.launch.py
 ros2 launch gazebo_ros2_control_demos cart_example_effort.launch.py
-ros2 launch gazebo_ros2_control_demos diff_drive_example.launch.py
+ros2 launch gazebo_ros2_control_demos diff_drive.launch.py
+ros2 launch gazebo_ros2_control_demos tricycle_drive.launch.py
 ```
 
 Send example commands:
@@ -234,7 +235,8 @@ When the Gazebo world is launched you can run some of the following commads to m
 ros2 run gazebo_ros2_control_demos example_position
 ros2 run gazebo_ros2_control_demos example_velocity
 ros2 run gazebo_ros2_control_demos example_effort
-ros2 run ign_ros2_control_demos example_diff_drive
+ros2 run gazebo_ros2_control_demos example_diff_drive
+ros2 run gazebo_ros2_control_demos example_tricycle_drive
 ```
 
 The following example shows parallel gripper with mimic joint:

diff --git a/gazebo_ros2_control_demos/CMakeLists.txt b/gazebo_ros2_control_demos/CMakeLists.txt
@@ -59,6 +59,12 @@ ament_target_dependencies(example_diff_drive
   geometry_msgs
 )
 
+add_executable(example_tricycle_drive examples/example_tricycle_drive.cpp)
+ament_target_dependencies(example_tricycle_drive
+  rclcpp
+  geometry_msgs
+)
+
 if(BUILD_TESTING)
   find_package(ament_cmake_gtest REQUIRED)
   find_package(ament_lint_auto REQUIRED)
@@ -73,6 +79,7 @@ install(
     example_velocity
     example_effort
     example_diff_drive
+    example_tricycle_drive
     example_gripper
   DESTINATION
     lib/${PROJECT_NAME}

diff --git a/gazebo_ros2_control_demos/config/config.rviz b/gazebo_ros2_control_demos/config/config.rviz
@@ -0,0 +1,229 @@
+Panels:
+  - Class: rviz_common/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /Status1
+        - /TF1
+        - /RobotModel1
+        - /RobotModel1/Status1
+        - /RobotModel1/Description Topic1
+      Splitter Ratio: 0.5
+    Tree Height: 741
+  - Class: rviz_common/Selection
+    Name: Selection
+  - Class: rviz_common/Tool Properties
+    Expanded:
+      - /2D Goal Pose1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.5886790156364441
+  - Class: rviz_common/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz_common/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: ""
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz_default_plugins/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Class: rviz_default_plugins/TF
+      Enabled: true
+      Frame Timeout: 15
+      Frames:
+        All Enabled: true
+        base_link:
+          Value: true
+        chassis:
+          Value: true
+        left_wheel:
+          Value: true
+        odom:
+          Value: true
+        right_wheel:
+          Value: true
+        steering_link:
+          Value: true
+        wheel_front_link:
+          Value: true
+      Marker Scale: 1
+      Name: TF
+      Show Arrows: true
+      Show Axes: true
+      Show Names: true
+      Tree:
+        odom:
+          base_link:
+            chassis:
+              left_wheel:
+                {}
+              right_wheel:
+                {}
+              steering_link:
+                wheel_front_link:
+                  {}
+      Update Interval: 0
+      Value: true
+    - Alpha: 1
+      Class: rviz_default_plugins/RobotModel
+      Collision Enabled: true
+      Description File: ""
+      Description Source: Topic
+      Description Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /robot_description
+      Enabled: true
+      Links:
+        All Links Enabled: true
+        Expand Joint Details: false
+        Expand Link Details: false
+        Expand Tree: false
+        Link Tree Style: Links in Alphabetic Order
+        base_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        chassis:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        left_wheel:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        right_wheel:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        steering_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        wheel_front_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+      Mass Properties:
+        Inertia: false
+        Mass: false
+      Name: RobotModel
+      TF Prefix: ""
+      Update Interval: 0
+      Value: true
+      Visual Enabled: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Fixed Frame: odom
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz_default_plugins/Interact
+      Hide Inactive Objects: true
+    - Class: rviz_default_plugins/MoveCamera
+    - Class: rviz_default_plugins/Select
+    - Class: rviz_default_plugins/FocusCamera
+    - Class: rviz_default_plugins/Measure
+      Line color: 128; 128; 0
+    - Class: rviz_default_plugins/SetInitialPose
+      Covariance x: 0.25
+      Covariance y: 0.25
+      Covariance yaw: 0.06853891909122467
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /initialpose
+    - Class: rviz_default_plugins/SetGoal
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /goal_pose
+    - Class: rviz_default_plugins/PublishPoint
+      Single click: true
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /clicked_point
+  Transformation:
+    Current:
+      Class: rviz_default_plugins/TF
+  Value: true
+  Views:
+    Current:
+      Class: rviz_default_plugins/Orbit
+      Distance: 9.402809143066406
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: -0.8695068955421448
+        Y: -0.05153140798211098
+        Z: -0.16355116665363312
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.2903985381126404
+      Target Frame: <Fixed Frame>
+      Value: Orbit (rviz)
+      Yaw: 3.6204142570495605
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 1032
+  Hide Left Dock: false
+  Hide Right Dock: true
+  QMainWindow State: 000000ff00000000fd0000000400000000000002380000036efc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b0000036e000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f0000036efc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003b0000036e000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007800000003efc0100000002fb0000000800540069006d00650100000000000007800000025300fffffffb0000000800540069006d00650100000000000004500000000000000000000005420000036e00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: true
+  Width: 1920
+  X: 1920
+  Y: 24
diff --git a/gazebo_ros2_control_demos/config/tricycle_drive_controller.yaml b/gazebo_ros2_control_demos/config/tricycle_drive_controller.yaml
@@ -0,0 +1,58 @@
+controller_manager:
+  ros__parameters:
+    update_rate: 50 # Hz
+    use_sim_time: true
+
+    tricycle_controller:
+      type: tricycle_controller/TricycleController
+
+    joint_state_broadcaster:
+      type: joint_state_broadcaster/JointStateBroadcaster
+
+joint_state_broadcaster:
+  ros__parameters:
+    extra_joints: ["right_wheel_joint", "left_wheel_joint"]
+
+tricycle_controller: 
+  ros__parameters:
+    # Model
+    traction_joint_name: traction_joint # Name of traction joint in URDF
+    steering_joint_name: steering_joint # Name of steering joint in URDF
+    wheel_radius: 0.3 # Radius of front wheel
+    wheelbase: 1.7 # Distance between center of back wheels and front wheel
+
+    # Odometry
+    odom_frame_id: odom
+    base_frame_id: base_link
+    publish_rate: 50.0 # publish rate of odom and tf
+    open_loop: false # if True, uses cmd_vel instead of hardware interface feedback to compute odometry
+    enable_odom_tf: true # If True, publishes odom<-base_link TF
+    odom_only_twist: false # If True, publishes on /odom only linear.x and angular.z; Useful for computing odometry in another node, e.g robot_localization's ekf
+    pose_covariance_diagonal: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] # Need to be set if fusing odom with other localization source
+    twist_covariance_diagonal: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] # Need to be set if fusing odom with other localization source
+    velocity_rolling_window_size: 10 # Rolling window size of rcppmath::RollingMeanAccumulator applied on linear and angular speeds published on odom
+
+    # Rate Limiting
+    traction: # All values should be positive
+      # min_velocity: 0.0
+      # max_velocity: 1000.0
+      # min_acceleration: 0.0
+      max_acceleration: 5.0
+      # min_deceleration: 0.0
+      max_deceleration: 8.0
+      # min_jerk: 0.0
+      # max_jerk: 1000.0
+    steering:
+      min_position: -1.57
+      max_position: 1.57
+      # min_velocity: 0.0
+      max_velocity: 1.0
+      # min_acceleration: 0.0
+      # max_acceleration: 1000.0
+
+    # cmd_vel input
+    cmd_vel_timeout: 500 # In milliseconds. Timeout to stop if no cmd_vel is received
+    use_stamped_vel: false # Set to True if using TwistStamped.
+
+    # Debug
+    publish_ackermann_command: true # Publishes AckermannDrive. The speed does not comply to the msg definition, it the wheel angular speed in rad/s.
diff --git a/gazebo_ros2_control_demos/examples/example_tricycle_drive.cpp b/gazebo_ros2_control_demos/examples/example_tricycle_drive.cpp
@@ -0,0 +1,53 @@
+// Copyright 2022 Open Source Robotics Foundation, Inc.
+//
+// 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.
+
+#include <memory>
+
+#include <rclcpp/rclcpp.hpp>
+
+#include <geometry_msgs/msg/twist.hpp>
+
+using namespace std::chrono_literals;
+
+int main(int argc, char * argv[])
+{
+  rclcpp::init(argc, argv);
+
+  std::shared_ptr<rclcpp::Node> node =
+    std::make_shared<rclcpp::Node>("tricycle_drive_test_node");
+
+  auto publisher = node->create_publisher<geometry_msgs::msg::Twist>(
+    "/tricycle_controller/cmd_vel", 10);
+
+  RCLCPP_INFO(node->get_logger(), "node created");
+
+  geometry_msgs::msg::Twist command;
+
+  command.linear.x = 0.2;
+  command.linear.y = 0.0;
+  command.linear.z = 0.0;
+
+  command.angular.x = 0.0;
+  command.angular.y = 0.0;
+  command.angular.z = 0.1;
+
+  while (1) {
+    publisher->publish(command);
+    std::this_thread::sleep_for(50ms);
+    rclcpp::spin_some(node);
+  }
+  rclcpp::shutdown();
+
+  return 0;
+}
diff --git a/gazebo_ros2_control_demos/launch/diff_drive.launch.py b/gazebo_ros2_control_demos/launch/diff_drive.launch.py
@@ -53,7 +53,7 @@ def generate_launch_description():
 
     spawn_entity = Node(package='gazebo_ros', executable='spawn_entity.py',
                         arguments=['-topic', 'robot_description',
-                                   '-entity', 'cartpole'],
+                                   '-entity', 'diffbot'],
                         output='screen')
 
     load_joint_state_controller = ExecuteProcess(