Restructuring of the repository for better overview.

example_1/CMakeLists.txt

@@ -0,0 +1,74 @@
+cmake_minimum_required(VERSION 3.5)
+project(ros2_control_demo_hardware)
+
+# Default to C++14
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra)
+endif()
+
+# 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)
+
+
+## COMPILE
+add_library(
+  ${PROJECT_NAME}
+  SHARED
+  hardware/rrbot.cpp
+)
+target_include_directories(
+  ${PROJECT_NAME}
+  PRIVATE
+  include
+)
+ament_target_dependencies(
+  ${PROJECT_NAME}
+  hardware_interface
+  pluginlib
+  rclcpp
+  rclcpp_lifecycle
+)
+
+# Causes the visibility macros to use dllexport rather than dllimport,
+# which is appropriate when building the dll but not consuming it.
+target_compile_definitions(${PROJECT_NAME} PRIVATE "ROS2_CONTROL_DEMO_HARDWARE_BUILDING_DLL")
+
+# Export hardware pligins
+pluginlib_export_plugin_description_file(hardware_interface ros2_control_demo_hardware.xml)
+
+# INSTALL
+install(
+  TARGETS ${PROJECT_NAME}
+  DESTINATION lib
+)
+install(
+  DIRECTORY include/
+  DESTINATION include
+)
+
+if(BUILD_TESTING)
+  find_package(ament_cmake_gtest REQUIRED)
+endif()
+
+## EXPORTS
+ament_export_include_directories(
+  include
+)
+ament_export_libraries(
+  ${PROJECT_NAME}
+)
+ament_export_dependencies(
+  hardware_interface
+  pluginlib
+  rclcpp
+  rclcpp_lifecycle
+)
+ament_package()

example_1/README.rst

@@ -0,0 +1,98 @@
+
+
+TODO(destogl): This is not adjusted yet!!
+
+
+*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.
+
+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`.
+
+
+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`.
+
+
+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`.
+   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.
+   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
+   ```
+   You should get:
+   ```
+   command interfaces
+        joint1/position [claimed]
+        joint2/position [claimed]
+   state interfaces
+         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
+   ```
+
+1. 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)

ros2_control_demo_hardware/src/rrbot_system_position_only.cpp → example_1/hardware/rrbot.cpp

@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "ros2_control_demo_hardware/rrbot_system_position_only.hpp"
+#include "ros2_control_demos_example_1/hardware/rrbot.hpp"
 
 #include <chrono>
 #include <cmath>

example_1/package.xml

@@ -0,0 +1,24 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>ros2_control_demo_hardware</name>
+  <version>0.0.0</version>
+  <description>Demo package of `ros2_control` Hardware. This package provides example on how to define hardware of your own robot for ROS2 control. The package is used with `ros2_control_demo_bringup` from package `rrbot_description` and `diffbot_description`.</description>
+
+  <maintainer email="denis@stogl.de">Denis Štogl</maintainer>
+
+  <license>Apache-2.0</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <depend>hardware_interface</depend>
+  <depend>pluginlib</depend>
+  <depend>rclcpp</depend>
+  <depend>rclcpp_lifecycle</depend>
+
+  <test_depend>ament_cmake_gtest</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>