diff --git a/README.md b/README.md index 77da67d6..39a5ef09 100644 --- 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 index ba8ce722..92f49653 100644 --- 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 new file mode 100644 index 00000000..19598731 --- /dev/null +++ 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: + 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: + 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 new file mode 100644 index 00000000..3519bfb9 --- /dev/null +++ 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 new file mode 100644 index 00000000..9713ff76 --- /dev/null +++ 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 + +#include + +#include + +using namespace std::chrono_literals; + +int main(int argc, char * argv[]) +{ + rclcpp::init(argc, argv); + + std::shared_ptr node = + std::make_shared("tricycle_drive_test_node"); + + auto publisher = node->create_publisher( + "/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 index a8b547a5..97913bde 100644 --- 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( diff --git a/gazebo_ros2_control_demos/launch/tricycle_drive.launch.py b/gazebo_ros2_control_demos/launch/tricycle_drive.launch.py new file mode 100644 index 00000000..f9a905fe --- /dev/null +++ b/gazebo_ros2_control_demos/launch/tricycle_drive.launch.py @@ -0,0 +1,98 @@ +# 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. + +import os + +from ament_index_python.packages import get_package_share_directory + + +from launch import LaunchDescription +from launch.actions import ExecuteProcess, IncludeLaunchDescription, RegisterEventHandler +from launch.event_handlers import OnProcessExit +from launch.launch_description_sources import PythonLaunchDescriptionSource + +from launch_ros.actions import Node + +import xacro + + +def generate_launch_description(): + gazebo = IncludeLaunchDescription( + PythonLaunchDescriptionSource([os.path.join( + get_package_share_directory('gazebo_ros'), 'launch'), '/gazebo.launch.py']), + ) + + gazebo_ros2_control_demos_path = os.path.join( + get_package_share_directory('gazebo_ros2_control_demos')) + + xacro_file = os.path.join(gazebo_ros2_control_demos_path, + 'urdf', + 'test_tricycle_drive.xacro.urdf') + + doc = xacro.parse(open(xacro_file)) + xacro.process_doc(doc) + params = {'robot_description': doc.toxml()} + + node_robot_state_publisher = Node( + package='robot_state_publisher', + executable='robot_state_publisher', + output='screen', + parameters=[params] + ) + + spawn_entity = Node(package='gazebo_ros', executable='spawn_entity.py', + arguments=['-topic', 'robot_description', + '-entity', 'tricycle'], + output='screen') + + load_joint_state_controller = ExecuteProcess( + cmd=['ros2', 'control', 'load_controller', '--set-state', 'active', + 'joint_state_broadcaster'], + output='screen' + ) + + load_tricycle_controller = ExecuteProcess( + cmd=['ros2', 'control', 'load_controller', '--set-state', 'active', + 'tricycle_controller'], + output='screen' + ) + + rviz = Node( + package="rviz2", + executable="rviz2", + arguments=[ + "-d", + os.path.join(gazebo_ros2_control_demos_path, "config/config.rviz"), + ], + output="screen", + ) + + return LaunchDescription([ + RegisterEventHandler( + event_handler=OnProcessExit( + target_action=spawn_entity, + on_exit=[load_joint_state_controller], + ) + ), + RegisterEventHandler( + event_handler=OnProcessExit( + target_action=load_joint_state_controller, + on_exit=[load_tricycle_controller], + ) + ), + gazebo, + rviz, + node_robot_state_publisher, + spawn_entity, + ]) diff --git a/gazebo_ros2_control_demos/package.xml b/gazebo_ros2_control_demos/package.xml index c5f1344a..c4408d95 100644 --- a/gazebo_ros2_control_demos/package.xml +++ b/gazebo_ros2_control_demos/package.xml @@ -26,6 +26,7 @@ ament_index_python control_msgs diff_drive_controller + tricycle_controller effort_controllers geometry_msgs gazebo_ros2_control diff --git a/gazebo_ros2_control_demos/urdf/test_tricycle_drive.xacro.urdf b/gazebo_ros2_control_demos/urdf/test_tricycle_drive.xacro.urdf new file mode 100644 index 00000000..32e8f7fc --- /dev/null +++ b/gazebo_ros2_control_demos/urdf/test_tricycle_drive.xacro.urdf @@ -0,0 +1,174 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + gazebo_ros2_control/GazeboSystem + + + + + + + + + + + + + + + $(find gazebo_ros2_control_demos)/config/tricycle_drive_controller.yaml + + + +