Restructuring for example_1 (#234)

* First compilable version * Fix wrong paths * Fix rst * Update copyright Co-authored-by: Dr. Denis <denis@stoglrobotics.de> * Restructure cmakelists * Add maintainer * Cleanup old paths * Update Dr. Denis' Email and add him as author. * Update maintainer * Use test_nodes from ros2_controllers * Fix trailing whitespaces * Fix rviz display * Add image to readme --------- Co-authored-by: Dr. Denis <denis@stoglrobotics.de>
ros-controls · Mar 8, 2023 · 7902db1 · 7902db1
1 parent 0572d28
commit 7902db1
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Showing 20 changed files with 469 additions and 212 deletions.
diff --git a/example_1/CMakeLists.txt b/example_1/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.5)
-project(ros2_control_demo_hardware)
+project(ros2_control_demo_example_1)
 
 # Default to C++14
 if(NOT CMAKE_CXX_STANDARD)
@@ -10,12 +10,19 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra)
 endif()
 
+# find dependencies
+set(THIS_PACKAGE_INCLUDE_DEPENDS
+  hardware_interface
+  pluginlib
+  rclcpp
+  rclcpp_lifecycle
+)
+
 # find dependencies
 find_package(ament_cmake REQUIRED)
-find_package(hardware_interface REQUIRED)
-find_package(pluginlib REQUIRED)
-find_package(rclcpp REQUIRED)
-find_package(rclcpp_lifecycle REQUIRED)
+foreach(Dependency IN ITEMS ${THIS_PACKAGE_INCLUDE_DEPENDS})
+  find_package(${Dependency} REQUIRED)
+endforeach()
 
 
 ## COMPILE
@@ -27,32 +34,37 @@ add_library(
 target_include_directories(
   ${PROJECT_NAME}
   PRIVATE
-  include
+  hardware/include
 )
 ament_target_dependencies(
   ${PROJECT_NAME}
-  hardware_interface
-  pluginlib
-  rclcpp
-  rclcpp_lifecycle
+  ${THIS_PACKAGE_INCLUDE_DEPENDS}
 )
 
 # Causes the visibility macros to use dllexport rather than dllimport,
 # which is appropriate when building the dll but not consuming it.
-target_compile_definitions(${PROJECT_NAME} PRIVATE "ROS2_CONTROL_DEMO_HARDWARE_BUILDING_DLL")
+target_compile_definitions(${PROJECT_NAME} PRIVATE "ROS2_CONTROL_DEMO_EXAMPLE_1_BUILDING_DLL")
 
-# Export hardware pligins
-pluginlib_export_plugin_description_file(hardware_interface ros2_control_demo_hardware.xml)
+# Export hardware plugins
+pluginlib_export_plugin_description_file(hardware_interface ros2_control_demo_example_1.xml)
 
 # INSTALL
 install(
   TARGETS ${PROJECT_NAME}
   DESTINATION lib
 )
 install(
-  DIRECTORY include/
+  DIRECTORY hardware/include/
   DESTINATION include
 )
+install(
+  DIRECTORY description/launch description/ros2_control description/urdf description/rviz description/meshes
+  DESTINATION share/${PROJECT_NAME}
+)
+install(
+  DIRECTORY bringup/launch bringup/config
+  DESTINATION share/${PROJECT_NAME}
+)
 
 if(BUILD_TESTING)
   find_package(ament_cmake_gtest REQUIRED)
@@ -66,9 +78,6 @@ ament_export_libraries(
   ${PROJECT_NAME}
 )
 ament_export_dependencies(
-  hardware_interface
-  pluginlib
-  rclcpp
-  rclcpp_lifecycle
+  ${THIS_PACKAGE_INCLUDE_DEPENDS}
 )
 ament_package()
diff --git a/example_1/README.rst b/example_1/README.rst
@@ -1,98 +1,109 @@
-
-
-TODO(destogl): This is not adjusted yet!!
+****************
+Example 1: RRBot
+****************
 
 
 *RRBot*, or ''Revolute-Revolute Manipulator Robot'', is a simple 3-linkage, 2-joint arm that we will use to demonstrate various features.
 It is essentially a double inverted pendulum and demonstrates some fun control concepts within a simulator and was originally introduced for Gazebo tutorials.
-The *RRBot* URDF files can be found in the ``urdf`` folder of ``rrbot_description`` package.
+The *RRBot* URDF files can be found in the ``description/urdf`` folder.
+
+1. To check that *RRBot* descriptions are working properly use following launch commands
+
+   .. code-block:: shell
 
-1. To check that *RRBot* descriptions are working properly use following launch commands:
+    ros2 launch ros2_control_demo_example_1 view_robot.launch.py
 
-   *RRBot*
-   ```
-   ros2 launch rrbot_description view_robot.launch.py
-   ```
    **NOTE**: Getting the following output in terminal is OK: ``Warning: Invalid frame ID "odom" passed to canTransform argument target_frame - frame does not exist``.
    This happens because ``joint_state_publisher_gui`` node need some time to start.
-   The ``joint_state_publisher_gui`` provides a GUI to generate  a random configuration for rrbot. It is immediately displayed in ``Rviz``.
+   The ``joint_state_publisher_gui`` provides a GUI to change the configuration for rrbot. It is immediately displayed in *RViz*.
 
+   .. image:: doc/rrbot.png
+    :width: 400
+    :alt: Revolute-Revolute Manipulator Robot
 
-1. To check that *RRBot* descriptions are working properly use following launch commands:
 
-   *RRBot*
-   ```
-   ros2 launch rrbot_description view_robot.launch.py
-   ```
-   **NOTE**: Getting the following output in terminal is OK: ``Warning: Invalid frame ID "odom" passed to canTransform argument target_frame - frame does not exist``.
-   This happens because ``joint_state_publisher_gui`` node need some time to start.
-   The ``joint_state_publisher_gui`` provides a GUI to generate  a random configuration for rrbot. It is immediately displayed in ``Rviz``.
+2. To start *RRBot* example open a terminal, source your ROS2-workspace and execute its launch file with
 
+   .. code-block:: shell
 
-1. To start *RRBot* example open a terminal, source your ROS2-workspace and execute its launch file with:
-   ```
-   ros2 launch ros2_control_demo_bringup rrbot.launch.py
-   ```
-   The launch file loads and starts the robot hardware, controllers and opens ``RViz``.
+    ros2 launch ros2_control_demo_example_1 rrbot.launch.py
+
+   The launch file loads and starts the robot hardware, controllers and opens *RViz*.
    In starting terminal you will see a lot of output from the hardware implementation showing its internal states.
    This is only of exemplary purposes and should be avoided as much as possible in a hardware interface implementation.
 
-   If you can see two orange and one yellow rectangle in in ``RViz`` everything has started properly.
+   If you can see two orange and one yellow rectangle in in *RViz* everything has started properly.
    Still, to be sure, let's introspect the control system before moving *RRBot*.
 
-1. Check if the hardware interface loaded properly, by opening another terminal and executing:
-   ```
-   ros2 control list_hardware_interfaces
-   ```
+3. Check if the hardware interface loaded properly, by opening another terminal and executing
+
+   .. code-block:: shell
 
-   You should get::
+    ros2 control list_hardware_interfaces
+
+   .. code-block:: shell
 
     command interfaces
-        joint1/position [claimed]
-        joint2/position [claimed]
+          joint1/position [available] [claimed]
+          joint2/position [available] [claimed]
     state interfaces
-        joint1/position
-        joint2/position
+          joint1/position
+          joint2/position
 
    Marker ``[claimed]`` by command interfaces means that a controller has access to command *RRBot*.
 
-1. Check is controllers are running:
-   ```
-   ros2 control list_controllers
-   ```
-   You should get:
-   ```
-   joint_state_broadcaster[joint_state_broadcaster/JointStateBroadcaster] active
-   forward_position_controller[forward_command_controller/ForwardCommandController] active
-   ```
+4. Check is controllers are running by
+
+   .. code-block:: shell
+
+    ros2 control list_controllers
+
+   .. code-block:: shell
 
-1. If you get output from above you can send commands to *Forward Command Controller*, either:
+    joint_state_broadcaster[joint_state_broadcaster/JointStateBroadcaster] active
+    forward_position_controller[forward_command_controller/ForwardCommandController] active
+
+5. If you get output from above you can send commands to *Forward Command Controller*, either:
 
    a. Manually using ros2 cli interface:
-   ```
-   ros2 topic pub /position_commands std_msgs/msg/Float64MultiArray "data:
-   - 0.5
-   - 0.5"
-   ```
-   B. Or you can start a demo node which sends two goals every 5 seconds in a loop:
-   ```
-   ros2 launch ros2_control_demo_bringup test_forward_position_controller.launch.py
-   ```
-   You should now see orange and yellow blocks moving in ``RViz``.
-   Also, you should see changing states in the terminal where launch file is started.
-
-
-Files used for this demos:
-  - Launch file: [rrbot.launch.py](ros2_control_demo_bringup/launch/rrbot.launch.py)
-  - Controllers yaml: [rrbot_controllers.yaml](ros2_control_demo_bringup/config/rrbot_controllers.yaml)
-  - URDF file: [rrbot.urdf.xacro](ros2_control_demo_description/rrbot_description/urdf/rrbot.urdf.xacro)
-    - Description: [rrbot_description.urdf.xacro](ros2_control_demo_description/rrbot_description/urdf/rrbot_description.urdf.xacro)
-    - `ros2_control` tag: [rrbot.ros2_control.xacro](ros2_control_demo_description/rrbot_description/ros2_control/rrbot.ros2_control.xacro)
-  - RViz configuration: [rrbot.rviz](ros2_control_demo_description/rrbot_description/config/rrbot.rviz)
-
-  - Hardware interface plugin: [rrbot_system_position_only.cpp](ros2_control_demo_hardware/src/rrbot_system_position_only.cpp)
-
-
-Controllers from this demo:
-  - ``Joint State Broadcaster`` ([``ros2_controllers`` repository](https://github.com/ros-controls/ros2_controllers)): [doc](https://ros-controls.github.io/control.ros.org/ros2_controllers/joint_state_broadcaster/doc/userdoc.html)
-  - ``Forward Command Controller`` ([``ros2_controllers`` repository](https://github.com/ros-controls/ros2_controllers)): [doc](https://ros-controls.github.io/control.ros.org/ros2_controllers/forward_command_controller/doc/userdoc.html)
+
+   .. code-block:: shell
+
+    ros2 topic pub /position_commands std_msgs/msg/Float64MultiArray "data:
+    - 0.5
+    - 0.5"
+
+   B. Or you can start a demo node which sends two goals every 5 seconds in a loop
+
+   .. code-block:: shell
+
+    ros2 launch ros2_control_demo_example_1 test_forward_position_controller.launch.py
+
+   You should now see orange and yellow blocks moving in *RViz*.
+   Also, you should see changing states in the terminal where launch file is started, e.g.
+
+   .. code-block:: shell
+
+    [RRBotSystemPositionOnlyHardware]: Got command 0.50000 for joint 0!
+    [RRBotSystemPositionOnlyHardware]: Got command 0.50000 for joint 1!
+
+
+Files used for this demos
+#########################
+
+- Launch file: `rrbot.launch.py <bringup/launch/rrbot.launch.py>`__
+- Controllers yaml: `rrbot_controllers.yaml <bringup/config/rrbot_controllers.yaml>`__
+- URDF file: `rrbot.urdf.xacro <description/urdf/rrbot.urdf.xacro>`__
+
+  + Description: `rrbot_description.urdf.xacro <description/urdf/rrbot_description.urdf.xacro>`__
+  + ``ros2_control`` tag: `rrbot.ros2_control.xacro <description/ros2_control/rrbot.ros2_control.xacro>`__
+
+- RViz configuration: `rrbot.rviz <description/rviz/rrbot.rviz>`__
+
+- Hardware interface plugin: `rrbot.cpp <hardware/rrbot.cpp>`__
+
+
+Controllers from this demo
+##########################
+- ``Joint State Broadcaster`` (`ros2_controllers repository <https://github.com/ros-controls/ros2_controllers>`__): `doc <https://control.ros.org/master/doc/ros2_controllers/joint_state_broadcaster/doc/userdoc.html>`__
+- ``Forward Command Controller`` (`ros2_controllers repository <https://github.com/ros-controls/ros2_controllers>`__): `doc <https://control.ros.org/master/doc/ros2_controllers/forward_command_controller/doc/userdoc.html>`__
diff --git a/example_1/bringup/config/rrbot_forward_position_publisher.yaml b/example_1/bringup/config/rrbot_forward_position_publisher.yaml
@@ -0,0 +1,11 @@
+publisher_forward_position_controller:
+  ros__parameters:
+
+    wait_sec_between_publish: 5
+    publish_topic: "/forward_position_controller/commands"
+
+    goal_names: ["pos1", "pos2", "pos3", "pos4"]
+    pos1: [0.785, 0.785]
+    pos2: [0, 0]
+    pos3: [-0.785, -0.785]
+    pos4: [0, 0]
diff --git a/example_1/bringup/launch/rrbot.launch.py b/example_1/bringup/launch/rrbot.launch.py
@@ -30,7 +30,7 @@ def generate_launch_description():
             " ",
             PathJoinSubstitution(
                 [
-                    FindPackageShare("rrbot_description"),
+                    FindPackageShare("ros2_control_demo_example_1"),
                     "urdf",
                     "rrbot.urdf.xacro",
                 ]
@@ -41,25 +41,19 @@ def generate_launch_description():
 
     robot_controllers = PathJoinSubstitution(
         [
-            FindPackageShare("ros2_control_demo_bringup"),
+            FindPackageShare("ros2_control_demo_example_1"),
             "config",
             "rrbot_controllers.yaml",
         ]
     )
     rviz_config_file = PathJoinSubstitution(
-        [FindPackageShare("rrbot_description"), "config", "rrbot.rviz"]
+        [FindPackageShare("ros2_control_demo_example_1"), "rviz", "rrbot.rviz"]
     )
 
     control_node = Node(
         package="controller_manager",
         executable="ros2_control_node",
         parameters=[robot_description, robot_controllers],
-        remappings=[
-            (
-                "/forward_position_controller/commands",
-                "/position_commands",
-            ),
-        ],
         output="both",
     )
     robot_state_pub_node = Node(

diff --git a/...est_forward_position_controller.launch.py → ...est_forward_position_controller.launch.py b/...est_forward_position_controller.launch.py → ...est_forward_position_controller.launch.py
@@ -22,7 +22,7 @@ def generate_launch_description():
 
     position_goals = PathJoinSubstitution(
         [
-            FindPackageShare("ros2_control_demo_bringup"),
+            FindPackageShare("ros2_control_demo_example_1"),
             "config",
             "rrbot_forward_position_publisher.yaml",
         ]
@@ -31,7 +31,7 @@ def generate_launch_description():
     return LaunchDescription(
         [
             Node(
-                package="ros2_control_test_nodes",
+                package="ros2_controllers_test_nodes",
                 executable="publisher_forward_position_controller",
                 name="publisher_forward_position_controller",
                 parameters=[position_goals],

diff --git a/...t_description/launch/view_robot.launch.py → ...1/description/launch/view_robot.launch.py b/...t_description/launch/view_robot.launch.py → ...1/description/launch/view_robot.launch.py
@@ -26,7 +26,7 @@ def generate_launch_description():
     declared_arguments.append(
         DeclareLaunchArgument(
             "description_package",
-            default_value="rrbot_description",
+            default_value="ros2_control_demo_example_1",
             description="Description package with robot URDF/xacro files. Usually the argument \
         is not set, it enables use of a custom description.",
         )
@@ -69,7 +69,7 @@ def generate_launch_description():
     robot_description = {"robot_description": robot_description_content}
 
     rviz_config_file = PathJoinSubstitution(
-        [FindPackageShare(description_package), "config", "rrbot.rviz"]
+        [FindPackageShare(description_package), "rviz", "rrbot.rviz"]
     )
 
     joint_state_publisher_node = Node(

diff --git a/...ption/rrbot_description/meshes/hokuyo.dae → example_1/description/meshes/hokuyo.dae b/...ption/rrbot_description/meshes/hokuyo.dae → example_1/description/meshes/hokuyo.dae
diff --git a/...le_1/description/rrbot.ros2_control.xacro → ...ion/ros2_control/rrbot.ros2_control.xacro b/...le_1/description/rrbot.ros2_control.xacro → ...ion/ros2_control/rrbot.ros2_control.xacro
@@ -5,7 +5,7 @@
 
     <ros2_control name="${name}" type="system">
       <hardware>
-        <plugin>ros2_control_demo_hardware/RRBotSystemPositionOnlyHardware</plugin>
+        <plugin>ros2_control_demo_example_1/RRBotSystemPositionOnlyHardware</plugin>
         <param name="example_param_hw_start_duration_sec">0</param>
         <param name="example_param_hw_stop_duration_sec">3.0</param>
         <param name="example_param_hw_slowdown">100</param>