Adding Gazebo for rrbot #64

olivier-stasse · 2021-02-06T11:13:16Z

Objective

Following the nice work of @ahcorde on gazebo_ros2_control adding Gazebo for rrbot.

This pull requests modifies the rrbot_description to call the gazebo_ros2_control and the GazeboSystemplugins.
Given the interfaces of rrbot this is directly compatible.
The rrbot_system_description_position_only.urdf.xacro has been modified to take simu has parameter.
The default is false and switch quietly to the usual behavior.
If set to true it loads the gazebo system from gazebo_ros2_control.

The rrbot_gazebo.xacro and rrbot_system_position_only.ros2_control.xacro are modified accordingly.

What is left ?

Major: Testing by sending commands to the system. Should we try to use the same forward_command_trajectory or use the same example than gazebo_ros2_control ? The latter might lead to an unnecessary duplication of code between the two repositories.
Minor: Modifying the README to launch the test:
ros2 launch ros2_control_demo_robot rrbot_system_position_only_gazebo.launch.py

codecov-io · 2021-02-06T16:51:10Z

Codecov Report

Merging #64 (68bdb89) into master (5d45eee) will not change coverage.
The diff coverage is n/a.

@@           Coverage Diff           @@
##           master     #64    +/-   ##
=======================================
  Coverage    0.00%   0.00%            
=======================================
  Files          15       1    -14     
  Lines        1065      71   -994     
=======================================
+ Misses       1065      71   -994

Flag	Coverage Δ
unittests	`0.00% <ø> (ø)`

Flags with carried forward coverage won't be shown. Click here to find out more.

Impacted Files	Coverage Δ
...l_demo_hardware/src/rrbot_system_position_only.cpp
...l_demo_hardware/src/rrbot_system_position_only.cpp
...l_demo_hardware/src/rrbot_system_position_only.cpp
...l_demo_hardware/src/rrbot_system_position_only.cpp
...l_demo_hardware/src/rrbot_system_position_only.cpp
...l_demo_hardware/src/rrbot_system_position_only.cpp
...l_demo_hardware/src/rrbot_system_position_only.cpp
...l_demo_hardware/src/rrbot_system_position_only.cpp
...l_demo_hardware/src/rrbot_system_position_only.cpp
...l_demo_hardware/src/rrbot_system_position_only.cpp
... and 6 more

Continue to review full report at Codecov.

Legend - Click here to learn more
Δ = absolute <relative> (impact), ø = not affected, ? = missing data
Powered by Codecov. Last update 5d45eee...68bdb89. Read the comment docs.

ahcorde · 2021-02-08T06:56:49Z

ros2_control_demo_robot/description/rrbot/rrbot_system_position_only.ros2_control.xacro

+          <param name="example_param_hw_start_duration_sec">2.0</param>
+          <param name="example_param_hw_stop_duration_sec">3.0</param>
+          <param name="example_param_hw_slowdown">2.0</param>


This is not parsed in the plugin

Maybe I misunderstood your comment, but this part is not included in the file generated by xacro because it is in the unless statement.
Should it be included ?

ahcorde · 2021-02-08T06:57:13Z

ros2_control_demo_robot/launch/rrbot_system_position_only_gazebo.launch.py

@@ -0,0 +1,60 @@
+# Copyright 2020 Open Source Robotics Foundation, Inc.


Suggested change

# Copyright 2020 Open Source Robotics Foundation, Inc.

# Copyright 2021 Open Source Robotics Foundation, Inc.

Done through commit 68bdb89

…tion file.

…n_only_gazebo.launch.py

…ch file.

Karsten1987 · 2021-02-12T03:10:48Z

ros2_control_demo_robot/package.xml

@@ -14,6 +14,7 @@
  <depend>hardware_interface</depend>
  <depend>pluginlib</depend>
  <depend>rclcpp</depend>
+  <depend>gazebo_ros2_control</depend>


you're missing an <exec_depend>xacro</exec_depend> here.

Thanks. Fixed in e6497f1

Karsten1987 · 2021-02-12T04:30:37Z

ros2_control_demo_robot/launch/rrbot_system_position_only_gazebo.launch.py

+
+    spawn_entity = Node(package='gazebo_ros', executable='spawn_entity.py',
+                        arguments=['-topic', 'robot_description',
+                                   '-entity', 'cartpole'],


what's that cartpole doing here?

Thanks. Fixed in e230567

Karsten1987 · 2021-02-12T04:31:34Z

ros2_control_demo_robot/description/rrbot_system_position_only.urdf.xacro

@@ -5,7 +5,8 @@ Copied and modified from ROS1 example:
 https://github.com/ros-simulation/gazebo_ros_demos/blob/kinetic-devel/rrbot_description/urdf/rrbot.xacro
 -->
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="2dof_robot">
-
+  <xacro:arg name="simu" default="false" />


nitpick, but simu sounds kinda weird. I'd propose either just sim or something like use_sim.

Thanks. Fixed in 5e726d4

Karsten1987 · 2021-02-12T04:33:00Z

ros2_control_demo_robot/controllers/rrbot_gazebo_forward_controller_position.yaml

+    joints:
+      - joint1
+      - joint2
+    interface_name: position


@destogl can you explain what that interface name does here? I'd assume that the joints are sufficiently described in the ros2_control tag with their control and state interfaces names.
What if I use position here and declare the joints as effort?

…r rrbot.

olivier-stasse · 2021-02-12T07:20:53Z

I forget to mention one behavior that I found strange (or at least that I do not have with the original example from @ahcorde): gazebo takes a long time to start.

Any feedback on this part is welcome.

Karsten1987 · 2021-02-12T14:27:32Z

I've noticed the same behavior, that it takes a long time to start up.
My guess is however not that it's Gazebo's fault, but I suspect it to be xacro. I feel that instead of loading a xacro file, we should maybe try to load a URDF directly. Can you try this?
~~https://github.com/ros-simulation/gazebo_ros2_control/blob/master/gazebo_ros2_control_demos/launch/cart_example_position.launch.py#L40~~

Nevermind, I actually tried it and the xacro substitution is really fast. Must be somewhere else. For what it's worth, I have the same delay on Linux as well as OSX.

olivier-stasse · 2021-04-28T06:50:25Z

Superseded by #85

olivier-stasse mentioned this pull request Feb 6, 2021

Making rrbot position only working on Gazebo #65

Closed

2 tasks

ahcorde reviewed Feb 8, 2021

View reviewed changes

ahcorde suggested changes Feb 8, 2021

View reviewed changes

olivier-stasse added 4 commits February 11, 2021 07:11

[ros2_control_demo_robot] Add gazebo for rrbot position_only demo.

2a7dfc9

[ros2_control_demo_robot] Add missing launch file and controller posi…

67be5c5

…tion file.

[ros2_control_demo_robot] Makes flake8 happy for rrbot_system_positio…

da5f235

…n_only_gazebo.launch.py

[ros2_control_demo_robot] Fix year in Copyright notice of gazebo laun…

b18c780

…ch file.

olivier-stasse force-pushed the topic/gazebo branch from 68bdb89 to b18c780 Compare February 11, 2021 06:13

Karsten1987 reviewed Feb 12, 2021

View reviewed changes

olivier-stasse added 3 commits February 12, 2021 07:07

[package.xml] Adding xacro dependency

e6497f1

[ros2_control_demo_hardware] Fix entity name when launching gazebo fo…

e230567

…r rrbot.

[ros2_control_demo_robot] Change xacro parameter simu to use_simu

5e726d4

Karsten1987 mentioned this pull request Apr 28, 2021

Gazebo support #85

Merged

olivier-stasse closed this Apr 28, 2021

Provide feedback

Saved searches

Use saved searches to filter your results more quickly

Adding Gazebo for rrbot #64

Adding Gazebo for rrbot #64

olivier-stasse commented Feb 6, 2021

codecov-io commented Feb 6, 2021 •

edited

Loading

ahcorde Feb 8, 2021

olivier-stasse Feb 8, 2021

ahcorde Feb 8, 2021

olivier-stasse Feb 8, 2021

Karsten1987 Feb 12, 2021

olivier-stasse Feb 12, 2021

Karsten1987 Feb 12, 2021

olivier-stasse Feb 12, 2021

Karsten1987 Feb 12, 2021

olivier-stasse Feb 12, 2021

Karsten1987 Feb 12, 2021

olivier-stasse commented Feb 12, 2021

Karsten1987 commented Feb 12, 2021 •

edited

Loading

olivier-stasse commented Apr 28, 2021

		@@ -0,0 +1,60 @@
		# Copyright 2020 Open Source Robotics Foundation, Inc.

	# Copyright 2020 Open Source Robotics Foundation, Inc.
	# Copyright 2021 Open Source Robotics Foundation, Inc.

Adding Gazebo for rrbot #64

Adding Gazebo for rrbot #64

Conversation

olivier-stasse commented Feb 6, 2021

Objective

What is left ?

codecov-io commented Feb 6, 2021 • edited Loading

Codecov Report

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

olivier-stasse commented Feb 12, 2021

Karsten1987 commented Feb 12, 2021 • edited Loading

olivier-stasse commented Apr 28, 2021

codecov-io commented Feb 6, 2021 •

edited

Loading

Karsten1987 commented Feb 12, 2021 •

edited

Loading