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Multi-Robot setup and detection #767

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Multi-Robot setup and detection #767

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1413afd
Added several features needed for multi-robot scenarios, mostly args …
ipa-srd-rd Mar 10, 2018
e20725f
Changed absolut topic definitions in yamls to relative ones.
ipa-srd-rd Mar 10, 2018
04e93e5
Merge remote-tracking branch 'origin-ipa320/indigo_dev' into feature/…
ipa-srd-rd Mar 10, 2018
5b51608
Added multi-robot arg for missing launch files.
ipa-srd-rd Mar 12, 2018
b444342
Changed max laser scan values to actual values.
ipa-srd-rd Mar 12, 2018
73efc73
Changed height of laser scanner for raw3-3.
ipa-srd-rd May 31, 2018
ce45595
Merged remote branch indigo_dev
dietriro Jun 11, 2018
2c045a4
Updated stuff for raw3-1 and ipp.
ipa-srd-rd Jun 13, 2018
d9745cb
Enbled tf prefix.
dietriro Jul 30, 2018
7f509bf
Merged southwatch changes into local ones.
dietriro Jul 30, 2018
67f3a97
Fixed errors after merge.
ipa-srd-rd Jul 31, 2018
ddbc7ea
Merge remote-tracking branch 'origin-ipa320/indigo_dev' into personal…
ipa-srd-rd Sep 24, 2018
cbb42af
Removed cob4-19
ipa-srd-rd Sep 24, 2018
3402484
Removed personal changes,
ipa-srd-rd Sep 25, 2018
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22,718 changes: 22,718 additions & 0 deletions can_filter_chain:
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3 changes: 2 additions & 1 deletion cob_bringup/components/cob4_base.launch
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Expand Up @@ -5,6 +5,7 @@
<arg name="can_device" default="can0"/>
<arg name="pkg_hardware_config" default="$(find cob_hardware_config)"/>
<arg name="sim" default="false"/>
<arg name="multi_robot" default="false"/>

<arg name="driver_yaml" default="$(arg pkg_hardware_config)/robots/cob4/config/cob4_base_driver.yaml"/>
<arg name="controller_yaml" default="$(arg pkg_hardware_config)/robots/cob4/config/cob4_base_controller.yaml"/>
Expand All @@ -14,9 +15,9 @@
<arg name="pkg_hardware_config" value="$(arg pkg_hardware_config)"/>
<arg name="driver_yaml" value="$(arg driver_yaml)"/>
<arg name="controller_yaml" value="$(arg controller_yaml)"/>

<arg name="can_device" value="$(arg can_device)"/>

<arg name="multi_robot" value="$(arg multi_robot)" />
<arg name="sim" value="$(arg sim)"/>
</include>
</launch>
2 changes: 2 additions & 0 deletions cob_bringup/components/raw3_base.launch
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Expand Up @@ -5,6 +5,7 @@

<arg name="pkg_hardware_config" default="$(find cob_hardware_config)"/>
<arg name="sim" default="false"/>
<arg name="multi_robot" default="false"/>

<arg name="driver_yaml" value="$(arg pkg_hardware_config)/robots/raw3/config/raw3_base_driver.yaml"/>
<arg name="controller_yaml" value="$(arg pkg_hardware_config)/robots/raw3/config/raw3_base_controller.yaml"/>
Expand All @@ -19,6 +20,7 @@
<arg name="stuck_detector_timeout" value="4.0" />
<arg name="stuck_detector_threshold" value="0.5" />

<arg name="multi_robot" value="$(arg multi_robot)"/>
<arg name="sim" value="$(arg sim)"/>
</include>
</launch>
16 changes: 13 additions & 3 deletions cob_bringup/components/ros_control_base.launch
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Expand Up @@ -3,6 +3,7 @@
<arg name="robot"/>
<arg name="driver_yaml"/>
<arg name="controller_yaml"/>
<arg name="multi_robot" default="false"/>

<arg name="can_device" default="can0"/>
<arg name="pkg_hardware_config" default="$(find cob_hardware_config)"/>
Expand Down Expand Up @@ -37,9 +38,18 @@
</group>
<node if="$(arg sim)" ns="$(arg component_name)" pkg="cob_helper_tools" type="fake_driver.py" name="fake_driver" cwd="node" respawn="false" output="screen"/>

<group ns="base">
<rosparam command="load" file="$(arg controller_yaml)"/>
<node pkg="controller_manager" type="controller_manager" name="base_controller_spawner" args="spawn joint_state_controller twist_controller odometry_controller" respawn="false" output="screen"/>
<group if="$(arg sim)">
<group ns="base" unless="$(arg multi_robot)">
<rosparam command="load" file="$(arg controller_yaml)"/>
<node pkg="controller_manager" type="controller_manager" name="base_controller_spawner" args="spawn joint_state_controller twist_controller odometry_controller" respawn="false" output="screen"/>
</group>
</group>

<group unless="$(arg sim)">
<group ns="base" if="$(arg multi_robot)">
<rosparam command="load" file="$(arg controller_yaml)"/>
<node pkg="controller_manager" type="controller_manager" name="base_controller_spawner" args="spawn joint_state_controller twist_controller odometry_controller" respawn="false" output="screen"/>
</group>
</group>

<group ns="$(arg component_name)">
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6 changes: 5 additions & 1 deletion cob_bringup/robot.launch
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@@ -1,12 +1,16 @@
<?xml version="1.0"?>
<launch>

<param name="/use_sim_time" value="false"/>
<arg name="sim" default="$(optenv SIMULATION false)"/>
<param name="/use_sim_time" value="$(arg sim)"/>
<arg name="robot" default="$(optenv ROBOT !!NO_ROBOT_SET!!)"/>
<arg name="env-script" default="$(find cob_bringup)/env.sh"/>
<arg name="multi_robot" default="false"/>

<include file="$(find cob_bringup)/robots/$(arg robot).launch">
<arg name="env-script" value="$(arg env-script)"/>
<arg name="sim" value="$(arg sim)" />
<arg name="multi_robot" value="$(arg multi_robot)"/>
</include>

</launch>
8 changes: 7 additions & 1 deletion cob_bringup/robots/cob4-18.launch
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@@ -1,11 +1,17 @@
<?xml version="1.0"?>
<launch>

<arg name="sim" default="false"/>
<arg name="env-script" default="$(find cob_bringup)/env.sh"/>
<arg name="multi_robot" default="false"/>

<include file="$(find cob_bringup)/robots/cob4-18.xml">
<arg name="cob4-18-b1" value="cob4-18-b1"/>
<arg unless="$(arg sim)" name="cob4-18-b1" value="cob4-18-b1"/>
<arg if="$(arg sim)" name="cob4-18-b1" value="localhost"/>
<arg name="env-script" value="$(arg env-script)"/>
<arg name="sim" value="$(arg sim)" />
<arg name="multi_robot" value="$(arg multi_robot)" />

</include>

</launch>
3 changes: 2 additions & 1 deletion cob_bringup/robots/cob4-18.xml
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@@ -1,11 +1,11 @@
<?xml version="1.0"?>
<launch>

<!-- args -->
<arg name="robot" value="cob4-18"/>
<arg name="cob4-18-b1" default="localhost"/>
<arg name="env-script" default="$(find cob_bringup)/env.sh"/>
<arg name="sim" default="false"/>
<arg name="multi_robot" default="false"/>

<!-- upload robot description -->
<include file="$(find cob_hardware_config)/upload_robot.launch">
Expand Down Expand Up @@ -56,6 +56,7 @@
<include file="$(find cob_bringup)/components/cob4_base.launch">
<arg name="robot" value="$(arg robot)"/>
<arg name="sim" value="$(arg sim)"/>
<arg name="multi_robot" value="$(arg multi_robot)" />
</include>
<include file="$(find cob_bringup)/drivers/light.launch">
<arg name="robot" value="$(arg robot)"/>
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11 changes: 8 additions & 3 deletions cob_bringup/robots/raw3-1.launch
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@@ -1,13 +1,18 @@
<?xml version="1.0"?>
<launch>

<arg name="sim" default="false"/>
<arg name="env-script" default="$(find cob_bringup)/env.sh"/>
<arg name="multi_robot" default="false"/>

<include file="$(find cob_bringup)/robots/raw3-1.xml">
<arg name="pc1" value="raw3-1-pc1"/>
<arg name="pc2" value="raw3-1-pc2"/>
<arg name="ur_ip" value="192.168.141.40"/>
<arg unless="$(arg sim)" name="pc1" value="raw3-1-pc1"/>
<arg unless="$(arg sim)" name="pc2" value="raw3-1-pc2"/>
<arg unless="$(arg sim)" name="ur_ip" value="192.168.141.40"/>

<arg name="env-script" value="$(arg env-script)"/>
<arg name="sim" value="$(arg sim)"/>
<arg name="multi_robot" value="$(arg multi_robot)" />
</include>

</launch>
2 changes: 2 additions & 0 deletions cob_bringup/robots/raw3-1.xml
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Expand Up @@ -9,6 +9,7 @@
<arg name="env-script" default="$(find cob_bringup)/env.sh"/>
<arg name="sim" default="false"/>
<arg name="pkg_hardware_config" default="$(find cob_hardware_config)"/>
<arg name="multi_robot" default="false"/>

<!-- upload robot description -->
<include file="$(find cob_hardware_config)/upload_robot.launch">
Expand Down Expand Up @@ -51,6 +52,7 @@
<arg name="robot" value="$(arg robot)" />
<arg name="can_device" value="can2" />
<arg name="sim" value="$(arg sim)"/>
<arg name="multi_robot" value="$(arg multi_robot)"/>
</include>
<include file="$(find cob_bringup)/components/canopen_generic.launch">
<arg name="robot" value="$(arg robot)"/>
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6 changes: 5 additions & 1 deletion cob_bringup/robots/raw3-3.launch
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@@ -1,10 +1,14 @@
<?xml version="1.0"?>
<launch>

<arg name="sim" default="false"/>
<arg name="env-script" default="$(find cob_bringup)/env.sh"/>
<arg name="multi_robot" default="false"/>

<include file="$(find cob_bringup)/robots/raw3-3.xml">
<arg name="env-script" value="$(arg env-script)"/>
<arg name="sim" value="$(arg sim)"/>
<arg name="multi_robot" value="$(arg multi_robot)" />
</include>

</launch>
</launch>
2 changes: 2 additions & 0 deletions cob_bringup/robots/raw3-3.xml
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Expand Up @@ -8,6 +8,7 @@
<arg name="pc2" default="localhost"/>
<arg name="env-script" default="$(find cob_bringup)/env.sh"/>
<arg name="sim" default="false"/>
<arg name="multi_robot" default="false"/>

<!-- upload robot description -->
<include file="$(find cob_hardware_config)/upload_robot.launch">
Expand Down Expand Up @@ -54,6 +55,7 @@
<arg name="robot" value="$(arg robot)" />
<arg name="can_device" value="can0" />
<arg name="sim" value="$(arg sim)"/>
<arg name="multi_robot" value="$(arg multi_robot)"/>
</include>

<!-- start common nodes used in hardware and simulation -->
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6 changes: 3 additions & 3 deletions cob_bringup/tools/base_collision_observer.launch
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Expand Up @@ -7,10 +7,10 @@
<!-- start collision velocity filter node-->
<node pkg="cob_collision_velocity_filter" type="collision_velocity_filter" name="collision_velocity_filter" output="screen">
<!-- remap incoming variables -->
<remap from="command_in" to="/base/collision_velocity_filter/command"/>
<remap from="command_in" to="base/collision_velocity_filter/command"/>
<!-- remap outgoing variables -->
<remap from="command" to="/base/twist_mux/command_safe"/>
<remap from="relevant_obstacles" to="/base/collision_velocity_filter/relevant_obstacles"/>
<remap from="command" to="base/twist_mux/command_safe"/>
<remap from="relevant_obstacles" to="base/collision_velocity_filter/relevant_obstacles"/>
<!-- setup costmap -->
<rosparam file="$(arg pkg_hardware_config)/robots/$(arg robot)/config/local_costmap_params.yaml" command="load" ns="anti_collision_costmap"/>
<!-- load parameter file -->
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1 change: 0 additions & 1 deletion cob_bringup/tools/battery_monitor.launch
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Expand Up @@ -7,7 +7,6 @@
<!-- start battery monitor node -->
<node name="battery_monitor" pkg="cob_monitoring" type="battery_monitor.py" respawn="false" output="screen">
<rosparam command="load" file="$(arg pkg_hardware_config)/robots/$(arg robot)/config/battery_monitor.yaml"/>
<remap from="power_state" to="/power_state"/>
</node>

</launch>
7 changes: 4 additions & 3 deletions cob_bringup/tools/robot_state_publisher.launch
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Expand Up @@ -3,12 +3,13 @@

<arg name="robot" default="$(optenv ROBOT !!NO_ROBOT_SET!!)"/>
<arg name="pkg_hardware_config" default="$(find cob_hardware_config)"/>
<arg name="tf_prefix" default=""/>

<node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" output="screen"/>
<node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" output="screen">
<param name="tf_prefix" value="$(arg tf_prefix)" />
</node>

<node pkg="joint_state_publisher" type="joint_state_publisher" name="joint_state_publisher" output="screen">
<remap from="robot_description" to="/robot_description"/>
<remap from="joint_states" to="/joint_states"/>
<rosparam command="load" file="$(arg pkg_hardware_config)/robots/$(arg robot)/config/joint_state_publisher.yaml"/>
</node>

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1 change: 1 addition & 0 deletions cob_hardware_config/robots/cob4-18/config/base_controller.yaml
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@@ -0,0 +1 @@
../../cob4/config/cob4_base_controller.yaml
7 changes: 7 additions & 0 deletions cob_hardware_config/robots/cob4-18/config/base_laser_filter.yaml
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scan_filter_chain:
- name: range
type: LaserScanRangeFilter
params:
use_message_range_limits: true
upper_threshold: 29.5
upper_replacement_value: 29.5
2 changes: 1 addition & 1 deletion cob_hardware_config/robots/cob4-18/config/joint_state_publisher.yaml
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rate: 100 #Hz
source_list: [/base/joint_states]
source_list: [base/joint_states]
2 changes: 1 addition & 1 deletion cob_hardware_config/robots/cob4-3/config/joint_state_publisher.yaml
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rate: 100 #Hz
source_list: [/base/joint_states]
source_list: [base/joint_states]
1 change: 1 addition & 0 deletions cob_hardware_config/robots/raw3-1/config/base_controller.yaml
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../../raw3/config/raw3_base_controller.yaml
7 changes: 7 additions & 0 deletions cob_hardware_config/robots/raw3-1/config/base_laser_filter.yaml
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scan_filter_chain:
- name: range
type: LaserScanRangeFilter
params:
use_message_range_limits: true
upper_threshold: 29.5
upper_replacement_value: 29.5
2 changes: 1 addition & 1 deletion cob_hardware_config/robots/raw3-1/config/joint_state_publisher.yaml
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rate: 100 #Hz
source_list: [/base/joint_states, /arm/joint_states, /torso/joint_states]
source_list: [base/joint_states, arm/joint_states, torso/joint_states]
1 change: 1 addition & 0 deletions cob_hardware_config/robots/raw3-3/config/base_controller.yaml
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../../raw3/config/raw3_base_controller.yaml
2 changes: 1 addition & 1 deletion cob_hardware_config/robots/raw3-3/config/joint_state_publisher.yaml
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rate: 100 #Hz
source_list: [/base/joint_states]
source_list: [base/joint_states]
6 changes: 3 additions & 3 deletions cob_hardware_config/robots/raw3/config/scan_unifier_filter.yaml
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Expand Up @@ -2,6 +2,6 @@ scan_filter_chain:
- name: range
type: LaserScanRangeFilter
params:
use_message_range_limits: false
upper_threshold: 10.0
upper_replacement_value: 10.0
use_message_range_limits: true
upper_threshold: 29.5
upper_replacement_value: 29.5
3 changes: 2 additions & 1 deletion cob_hardware_config/upload_robot.launch
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Expand Up @@ -2,9 +2,10 @@
<launch>

<arg name="robot" default="$(optenv ROBOT !!NO_ROBOT_SET!!)"/>
<arg name="robot_namespace" default=""/>
<arg name="pkg_hardware_config" default="$(find cob_hardware_config)"/>

<!-- send cob urdf to param server -->
<param name="robot_description" command="$(find xacro)/xacro --inorder '$(arg pkg_hardware_config)/robots/$(arg robot)/urdf/$(arg robot).urdf.xacro'" />
<param name="robot_description" command="$(find xacro)/xacro --inorder '$(arg pkg_hardware_config)/robots/$(arg robot)/urdf/$(arg robot).urdf.xacro' robot_namespace:=$(arg robot_namespace)" />

</launch>