diff --git a/README.md b/README.md index 2dc2203e6..a652166be 100644 --- a/README.md +++ b/README.md @@ -72,6 +72,9 @@ Check README file inside each example folder for detailed description. *DiffBot*, or ''Differential Mobile Robot'', is a simple mobile base with differential drive. The robot is basically a box moving according to differential drive kinematics. +##### Example 5: "Industrial Robots with externally connected sensor" +*RRBot* - or ''Revolute-Revolute Manipulator Robot'' - a simple position controlled robot +with an externally connected sensor. ##### Example 3 @@ -284,41 +287,6 @@ ros2 topic echo /fts_broadcaster/wrench ``` -### Example 4: "Industrial Robots with externally connected sensor" - -- Launch file: [rrbot_system_with_external_sensor.launch.py](ros2_control_demo_bringup/launch/rrbot_system_with_external_sensor.launch.py) -- Controllers: [rrbot_with_external_sensor_controllers.yaml](ros2_control_demo_bringup/config/rrbot_with_external_sensor_controllers.yaml) -- URDF: [rrbot_with_external_sensor_controllers.urdf.xacro](ros2_control_demo_description/rrbot_description/urdf/rrbot_with_external_sensor_controllers.urdf.xacro) -- ros2_control URDF: - - robot: [rrbot_system_position_only.ros2_control.xacro](ros2_control_demo_description/rrbot_description/ros2_control/rrbot_system_position_only.ros2_control.xacro) - - sensor: [external_rrbot_force_torque_sensor.ros2_control.xacro](ros2_control_demo_description/rrbot_description/ros2_control/external_rrbot_force_torque_sensor.ros2_control.xacro) - -- Command interfaces: - - joint1/position - - joint2/position -- State interfaces: - - joint1/position - - joint2/position - - tcp_fts_sensor/force.x - - tcp_fts_sensor/force.y - - tcp_fts_sensor/force.z - - tcp_fts_sensor/torque.x - - tcp_fts_sensor/torque.y - - tcp_fts_sensor/torque.z - -Available controllers: -- `forward_position_controller[forward_command_controller/ForwardCommandController]` -- `fts_broadcaster[force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster]` -- `joint_state_broadcaster[joint_state_broadcaster/JointStateBroadcaster]` - -Commanding the robot: see the commands below. - -Accessing Wrench data from 2D FTS: -``` -ros2 topic echo /fts_broadcaster/wrench -``` - - ### Example 5: "Modular Robots with separate communication to each actuator" - Launch file: [rrbot_modular_actuators.launch.py](ros2_control_demo_bringup/launch/rrbot_modular_actuators.launch.py) diff --git a/example_5/CMakeLists.txt b/example_5/CMakeLists.txt new file mode 100644 index 000000000..682f8c19b --- /dev/null +++ b/example_5/CMakeLists.txt @@ -0,0 +1,84 @@ +cmake_minimum_required(VERSION 3.5) +project(ros2_control_demo_example_5) + +# 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 +set(THIS_PACKAGE_INCLUDE_DEPENDS + hardware_interface + pluginlib + rclcpp + rclcpp_lifecycle +) + +# find dependencies +find_package(ament_cmake REQUIRED) +foreach(Dependency IN ITEMS ${THIS_PACKAGE_INCLUDE_DEPENDS}) + find_package(${Dependency} REQUIRED) +endforeach() + + +## COMPILE +add_library( + ${PROJECT_NAME} + SHARED + hardware/external_rrbot_force_torque_sensor.cpp + hardware/rrbot.cpp +) +target_include_directories( + ${PROJECT_NAME} + PRIVATE + hardware/include +) +ament_target_dependencies( + ${PROJECT_NAME} + ${THIS_PACKAGE_INCLUDE_DEPENDS} +) + +# Causes the visibility macros to use dllexport rather than dllimport, +# which is appropriate when building the dll but not consuming it. +target_compile_definitions(${PROJECT_NAME} PRIVATE "ROS2_CONTROL_DEMO_EXAMPLE_5_BUILDING_DLL") + +# Export hardware plugins +pluginlib_export_plugin_description_file(hardware_interface ros2_control_demo_example_5.xml) + +# INSTALL +install( + TARGETS ${PROJECT_NAME} + DESTINATION lib +) +install( + DIRECTORY hardware/include/ + DESTINATION include +) +install( + DIRECTORY description/launch description/ros2_control description/urdf description/rviz description/meshes + DESTINATION share/${PROJECT_NAME} +) +install( + DIRECTORY bringup/launch bringup/config + DESTINATION share/${PROJECT_NAME} +) + +if(BUILD_TESTING) + find_package(ament_cmake_gtest REQUIRED) +endif() + +## EXPORTS +ament_export_include_directories( + include +) +ament_export_libraries( + ${PROJECT_NAME} +) +ament_export_dependencies( + ${THIS_PACKAGE_INCLUDE_DEPENDS} +) +ament_package() diff --git a/example_5/README.rst b/example_5/README.rst new file mode 100644 index 000000000..08fb060a5 --- /dev/null +++ b/example_5/README.rst @@ -0,0 +1,143 @@ +************************************************************* +Example 5: Industrial robot with externally connected sensor +************************************************************* + +This example shows how an externally connected sensor can be accessed via a hardware interface of +type ``hardware_interface::SensorInterface``: A 3D Force-Torque Sensor (FTS) is simulated by +generating random sensor readings. + +1. To check that *RRBot* descriptions are working properly use following launch commands + + .. code-block:: shell + + ros2 launch ros2_control_demo_example_5 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 + + ros2 launch ros2_control_demo_example_5 rrbot_system_with_external_sensor.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*. + +3. Check if the hardware interface loaded properly, by opening another terminal and executing + + .. code-block:: shell + + ros2 control list_hardware_interfaces + + .. code-block:: shell + + command interfaces + joint1/position [available] [claimed] + joint2/position [available] [claimed] + state interfaces + joint1/position + joint2/position + tcp_fts_sensor/force.x + tcp_fts_sensor/force.y + tcp_fts_sensor/force.z + tcp_fts_sensor/torque.x + tcp_fts_sensor/torque.y + + Marker ``[claimed]`` by command interfaces means that a controller has access to command *RRBot*. + +4. Check is controllers are running + + .. code-block:: shell + + ros2 control list_controllers + + .. code-block:: shell + + forward_position_controller[forward_command_controller/ForwardCommandController] active + fts_broadcaster[force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster] active + joint_state_broadcaster[joint_state_broadcaster/JointStateBroadcaster] active + +5. If you get output from above you can send commands to *Forward Command Controller*, either: + + #. Manually using ros2 cli interface. + + .. code-block:: shell + + ros2 topic pub /forward_position_controller/commands std_msgs/msg/Float64MultiArray "data: + - 0.5 + - 0.5" + + #. 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_5 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! + +6. Access wrench data from 2D FTS via + + .. code-block:: shell + + ros2 topic echo /fts_broadcaster/wrench + + shows the random generated sensor values, republished by *Force Torque Sensor Broadcaster* as + ``geometry_msgs/msg/WrenchStamped`` message + + .. code-block:: shell + + header: + stamp: + sec: 1676444704 + nanosec: 332221422 + frame_id: tool_link + wrench: + force: + x: 1.2126582860946655 + y: 2.3202226161956787 + z: 3.4302282333374023 + torque: + x: 4.540233612060547 + y: 0.647800624370575 + z: 1.7602499723434448 + + Wrench data are also visualized in *RViz*: + + .. image:: doc/rrbot_wrench.png + :width: 400 + :alt: Revolute-Revolute Manipulator Robot with wrench visualization + +Files used for this demos +######################### + +- Launch file: `rrbot_system_with_external_sensor.launch.py `__ +- Controllers yaml: `rrbot_with_external_sensor_controllers.yaml `__ +- URDF: `rrbot_with_external_sensor_controllers.urdf.xacro `__ + + + ``ros2_control`` robot: `rrbot_system_position_only.ros2_control.xacro `__ + + ``ros2_control`` sensor: `external_rrbot_force_torque_sensor.ros2_control.xacro `__ + +- RViz configuration: `rrbot.rviz `__ +- Hardware interface plugin: + + + robot `rrbot.cpp `__ + + sensor `external_rrbot_force_torque_sensor.cpp `__ + +Controllers from this demo +########################## +- ``Joint State Broadcaster`` (`ros2_controllers repository `__): `doc `__ +- ``Forward Command Controller`` (`ros2_controllers repository `__): `doc `__ +- ``Force Torque Sensor Broadcaster`` (`ros2_controllers repository `__): `doc `__ diff --git a/example_5/bringup/config/rrbot_forward_position_publisher.yaml b/example_5/bringup/config/rrbot_forward_position_publisher.yaml new file mode 100644 index 000000000..fde53b780 --- /dev/null +++ b/example_5/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/ros2_control_demo_bringup/config/rrbot_with_external_sensor_controllers.yaml b/example_5/bringup/config/rrbot_with_external_sensor_controllers.yaml similarity index 100% rename from ros2_control_demo_bringup/config/rrbot_with_external_sensor_controllers.yaml rename to example_5/bringup/config/rrbot_with_external_sensor_controllers.yaml diff --git a/example_5/bringup/launch/rrbot_base.launch.py b/example_5/bringup/launch/rrbot_base.launch.py new file mode 100644 index 000000000..7ccdfbe73 --- /dev/null +++ b/example_5/bringup/launch/rrbot_base.launch.py @@ -0,0 +1,216 @@ +# Copyright 2021 Stogl Robotics Consulting UG (haftungsbeschränkt) +# +# 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. + +from launch import LaunchDescription +from launch.actions import DeclareLaunchArgument, RegisterEventHandler +from launch.conditions import IfCondition +from launch.event_handlers import OnProcessExit +from launch.substitutions import Command, FindExecutable, LaunchConfiguration, PathJoinSubstitution + +from launch_ros.actions import Node +from launch_ros.substitutions import FindPackageShare + + +def generate_launch_description(): + # Declare arguments + declared_arguments = [] + declared_arguments.append( + DeclareLaunchArgument( + "runtime_config_package", + default_value="ros2_control_demo_example_5", + description='Package with the controller\'s configuration in "config" folder. \ + Usually the argument is not set, it enables use of a custom setup.', + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "controllers_file", + default_value="rrbot_controllers.yaml", + description="YAML file with the controllers configuration.", + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "description_package", + default_value="ros2_control_demo_example_5", + description="Description package with robot URDF/xacro files. Usually the argument \ + is not set, it enables use of a custom description.", + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "description_file", + description="URDF/XACRO description file with the robot.", + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "prefix", + default_value='""', + description="Prefix of the joint names, useful for \ + multi-robot setup. If changed than also joint names in the controllers' configuration \ + have to be updated.", + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "use_gazebo", + default_value="false", + description="Start robot in Gazebo simulation.", + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "use_fake_hardware", + default_value="true", + description="Start robot with fake hardware mirroring command to its states.", + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "mock_sensor_commands", + default_value="false", + description="Enable fake command interfaces for sensors used for simple simulations. \ + Used only if 'use_fake_hardware' parameter is true.", + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "slowdown", default_value="3.0", description="Slowdown factor of the RRbot." + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "robot_controller", + default_value="forward_position_controller", + description="Robot controller to start.", + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "start_rviz", + default_value="true", + description="Start RViz2 automatically with this launch file.", + ) + ) + + # Initialize Arguments + runtime_config_package = LaunchConfiguration("runtime_config_package") + controllers_file = LaunchConfiguration("controllers_file") + description_package = LaunchConfiguration("description_package") + description_file = LaunchConfiguration("description_file") + prefix = LaunchConfiguration("prefix") + use_gazebo = LaunchConfiguration("use_gazebo") + use_fake_hardware = LaunchConfiguration("use_fake_hardware") + mock_sensor_commands = LaunchConfiguration("mock_sensor_commands") + slowdown = LaunchConfiguration("slowdown") + robot_controller = LaunchConfiguration("robot_controller") + start_rviz = LaunchConfiguration("start_rviz") + + # Get URDF via xacro + robot_description_content = Command( + [ + PathJoinSubstitution([FindExecutable(name="xacro")]), + " ", + PathJoinSubstitution( + [FindPackageShare(description_package), "urdf", description_file] + ), + " ", + "prefix:=", + prefix, + " ", + "use_gazebo:=", + use_gazebo, + " ", + "use_fake_hardware:=", + use_fake_hardware, + " ", + "mock_sensor_commands:=", + mock_sensor_commands, + " ", + "slowdown:=", + slowdown, + ] + ) + robot_description = {"robot_description": robot_description_content} + + robot_controllers = PathJoinSubstitution( + [ + FindPackageShare(runtime_config_package), + "config", + controllers_file, + ] + ) + rviz_config_file = PathJoinSubstitution( + [FindPackageShare(description_package), "rviz", "rrbot.rviz"] + ) + + control_node = Node( + package="controller_manager", + executable="ros2_control_node", + parameters=[robot_description, robot_controllers], + output="both", + ) + robot_state_pub_node = Node( + package="robot_state_publisher", + executable="robot_state_publisher", + output="both", + parameters=[robot_description], + ) + rviz_node = Node( + package="rviz2", + executable="rviz2", + name="rviz2", + output="log", + arguments=["-d", rviz_config_file], + condition=IfCondition(start_rviz), + ) + + joint_state_broadcaster_spawner = Node( + package="controller_manager", + executable="spawner", + arguments=["joint_state_broadcaster", "--controller-manager", "/controller_manager"], + ) + + robot_controller_spawner = Node( + package="controller_manager", + executable="spawner", + arguments=[robot_controller, "-c", "/controller_manager"], + ) + + # Delay rviz start after `joint_state_broadcaster` + delay_rviz_after_joint_state_broadcaster_spawner = RegisterEventHandler( + event_handler=OnProcessExit( + target_action=joint_state_broadcaster_spawner, + on_exit=[rviz_node], + ) + ) + + # Delay start of robot_controller after `joint_state_broadcaster` + delay_robot_controller_spawner_after_joint_state_broadcaster_spawner = RegisterEventHandler( + event_handler=OnProcessExit( + target_action=joint_state_broadcaster_spawner, + on_exit=[robot_controller_spawner], + ) + ) + + nodes = [ + control_node, + robot_state_pub_node, + joint_state_broadcaster_spawner, + delay_rviz_after_joint_state_broadcaster_spawner, + delay_robot_controller_spawner_after_joint_state_broadcaster_spawner, + ] + + return LaunchDescription(declared_arguments + nodes) diff --git a/ros2_control_demo_bringup/launch/rrbot_system_with_external_sensor.launch.py b/example_5/bringup/launch/rrbot_system_with_external_sensor.launch.py similarity index 100% rename from ros2_control_demo_bringup/launch/rrbot_system_with_external_sensor.launch.py rename to example_5/bringup/launch/rrbot_system_with_external_sensor.launch.py diff --git a/example_5/bringup/launch/test_forward_position_controller.launch.py b/example_5/bringup/launch/test_forward_position_controller.launch.py new file mode 100644 index 000000000..72e514570 --- /dev/null +++ b/example_5/bringup/launch/test_forward_position_controller.launch.py @@ -0,0 +1,41 @@ +# Copyright 2021 Stogl Robotics Consulting UG (haftungsbeschränkt) +# +# 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. + +from launch import LaunchDescription +from launch.substitutions import PathJoinSubstitution +from launch_ros.actions import Node +from launch_ros.substitutions import FindPackageShare + + +def generate_launch_description(): + + position_goals = PathJoinSubstitution( + [ + FindPackageShare("ros2_control_demo_example_5"), + "config", + "rrbot_forward_position_publisher.yaml", + ] + ) + + return LaunchDescription( + [ + Node( + package="ros2_controllers_test_nodes", + executable="publisher_forward_position_controller", + name="publisher_forward_position_controller", + parameters=[position_goals], + output="both", + ) + ] + ) diff --git a/example_5/description/launch/view_robot.launch.py b/example_5/description/launch/view_robot.launch.py new file mode 100644 index 000000000..fc954989a --- /dev/null +++ b/example_5/description/launch/view_robot.launch.py @@ -0,0 +1,99 @@ +# Copyright 2021 Stogl Robotics Consulting UG (haftungsbeschränkt) +# +# 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. + +from launch import LaunchDescription +from launch.actions import DeclareLaunchArgument +from launch.substitutions import Command, FindExecutable, LaunchConfiguration, PathJoinSubstitution + +from launch_ros.actions import Node +from launch_ros.substitutions import FindPackageShare + + +def generate_launch_description(): + # Declare arguments + declared_arguments = [] + declared_arguments.append( + DeclareLaunchArgument( + "description_package", + default_value="ros2_control_demo_example_5", + description="Description package with robot URDF/xacro files. Usually the argument \ + is not set, it enables use of a custom description.", + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "description_file", + default_value="rrbot_system_with_external_sensor.urdf.xacro", + description="URDF/XACRO description file with the robot.", + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "prefix", + default_value='""', + description="Prefix of the joint names, useful for \ + multi-robot setup. If changed than also joint names in the controllers' configuration \ + have to be updated.", + ) + ) + + # Initialize Arguments + description_package = LaunchConfiguration("description_package") + description_file = LaunchConfiguration("description_file") + prefix = LaunchConfiguration("prefix") + + # Get URDF via xacro + robot_description_content = Command( + [ + PathJoinSubstitution([FindExecutable(name="xacro")]), + " ", + PathJoinSubstitution( + [FindPackageShare(description_package), "urdf", description_file] + ), + " ", + "prefix:=", + prefix, + ] + ) + robot_description = {"robot_description": robot_description_content} + + rviz_config_file = PathJoinSubstitution( + [FindPackageShare(description_package), "rviz", "rrbot.rviz"] + ) + + joint_state_publisher_node = Node( + package="joint_state_publisher_gui", + executable="joint_state_publisher_gui", + ) + robot_state_publisher_node = Node( + package="robot_state_publisher", + executable="robot_state_publisher", + output="both", + parameters=[robot_description], + ) + rviz_node = Node( + package="rviz2", + executable="rviz2", + name="rviz2", + output="log", + arguments=["-d", rviz_config_file], + ) + + nodes = [ + joint_state_publisher_node, + robot_state_publisher_node, + rviz_node, + ] + + return LaunchDescription(declared_arguments + nodes) diff --git a/example_5/description/meshes/hokuyo.dae b/example_5/description/meshes/hokuyo.dae new file mode 100644 index 000000000..5334503ae --- /dev/null +++ b/example_5/description/meshes/hokuyo.dae @@ -0,0 +1,253 @@ + + + + + Blender User + Blender 2.64.0 r51232 + + 2013-03-22T08:19:53 + 2013-03-22T08:19:53 + + Z_UP + + + + + + + 49.13434 + 1.777778 + 0.1 + 100 + + + + + + + + + + 1 1 1 + 1 + 0 + 0.00111109 + + + + + 0.000999987 + 0 + 1 + 1 + 1 + 1 + 1 + 2 + 0 + 1 + 1 + 1 + 1 + 1 + 0 + 2880 + 2 + 30.002 + 1.000799 + 0.04999995 + 29.99998 + 1 + 2 + 0 + 0 + 1 + 1 + 1 + 1 + 8192 + 1 + 1 + 0 + 1 + 1 + 1 + 3 + 0 + 0 + 0 + 0 + 45 + 0 + 1 + 1 + 1 + 3 + 0.15 + 75 + 1 + 1 + 0 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+ + + 1 + + + + + + 7.481132 -6.50764 5.343665 + 0 0 1 46.69194 + 0 1 0 0.619768 + 1 0 0 63.5593 + 1 1 1 + + + + 4.076245 1.005454 5.903862 + 0 0 1 106.9363 + 0 1 0 3.163707 + 1 0 0 37.26105 + 1 1 1 + + + + 0 0 0 + 0 0 1 0 + 0 1 0 0 + 1 0 0 90.00001 + 1 1 1 + + + + + + + + + + + + + + + diff --git a/ros2_control_demo_description/rrbot_description/ros2_control/external_rrbot_force_torque_sensor.ros2_control.xacro b/example_5/description/ros2_control/external_rrbot_force_torque_sensor.ros2_control.xacro similarity index 94% rename from ros2_control_demo_description/rrbot_description/ros2_control/external_rrbot_force_torque_sensor.ros2_control.xacro rename to example_5/description/ros2_control/external_rrbot_force_torque_sensor.ros2_control.xacro index ce91bbfe1..4e557200b 100644 --- a/ros2_control_demo_description/rrbot_description/ros2_control/external_rrbot_force_torque_sensor.ros2_control.xacro +++ b/example_5/description/ros2_control/external_rrbot_force_torque_sensor.ros2_control.xacro @@ -11,7 +11,7 @@ 0.0 - ros2_control_demo_hardware/ExternalRRBotForceTorqueSensorHardware + ros2_control_demo_example_5/ExternalRRBotForceTorqueSensorHardware 0.0 3.0 5.0 diff --git a/example_5/description/ros2_control/rrbot_system_position_only.ros2_control.xacro b/example_5/description/ros2_control/rrbot_system_position_only.ros2_control.xacro new file mode 100644 index 000000000..789f3928f --- /dev/null +++ b/example_5/description/ros2_control/rrbot_system_position_only.ros2_control.xacro @@ -0,0 +1,47 @@ + + + + + + + + + + gazebo_ros2_control/GazeboSystem + + + + + + mock_components/GenericSystem + ${mock_sensor_commands} + 0.0 + + + ros2_control_demo_example_5/RRBotSystemPositionOnlyHardware + 0.0 + 3.0 + ${slowdown} + + + + + + + -1 + 1 + + + + + + -1 + 1 + + + + + + + + diff --git a/example_5/description/rviz/rrbot.rviz b/example_5/description/rviz/rrbot.rviz new file mode 100644 index 000000000..0efbecc38 --- /dev/null +++ b/example_5/description/rviz/rrbot.rviz @@ -0,0 +1,205 @@ +Panels: + - Class: rviz_common/Displays + Help Height: 87 + Name: Displays + Property Tree Widget: + Expanded: ~ + Splitter Ratio: 0.5 + Tree Height: 1096 + - 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 +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 + - Alpha: 1 + Class: rviz_default_plugins/RobotModel + Collision Enabled: false + 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 + Value: true + camera_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + camera_link_optical: + Alpha: 1 + Show Axes: false + Show Trail: false + hokuyo_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + tool_link: + Alpha: 1 + Show Axes: false + Show Trail: false + world: + Alpha: 1 + Show Axes: false + Show Trail: false + Mass Properties: + Inertia: false + Mass: false + Name: RobotModel + TF Prefix: "" + Update Interval: 0 + Value: true + Visual Enabled: true + - Alpha: 1 + Arrow Width: 0.5 + Class: rviz_default_plugins/Wrench + Enabled: true + Force Arrow Scale: 0.20000000298023224 + Force Color: 204; 51; 51 + History Length: 1 + Name: Wrench + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /fts_broadcaster/wrench + Torque Arrow Scale: 0.20000000298023224 + Torque Color: 204; 204; 51 + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Fixed Frame: base_link + 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: 8.443930625915527 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0.0044944556429982185 + Y: 1.0785865783691406 + Z: 2.4839563369750977 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 0.23039916157722473 + Target Frame: + Value: Orbit (rviz) + Yaw: 5.150422096252441 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 1379 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 000000ff00000000fd00000004000000000000016a000004f0fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000007901000003fb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000048000004f00000010101000003fb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c000002610000000100000110000004f0fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730100000048000004f0000000db01000003fb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d0065010000000000000450000000000000000000000784000004f000000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + Selection: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 2560 + X: 0 + Y: 1470 diff --git a/example_5/description/urdf/rrbot.materials.xacro b/example_5/description/urdf/rrbot.materials.xacro new file mode 100644 index 000000000..eb8e0212c --- /dev/null +++ b/example_5/description/urdf/rrbot.materials.xacro @@ -0,0 +1,44 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/example_5/description/urdf/rrbot_description.urdf.xacro b/example_5/description/urdf/rrbot_description.urdf.xacro new file mode 100644 index 000000000..f15c6fdbe --- /dev/null +++ b/example_5/description/urdf/rrbot_description.urdf.xacro @@ -0,0 +1,204 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/ros2_control_demo_description/rrbot_description/urdf/rrbot_system_with_external_sensor.urdf.xacro b/example_5/description/urdf/rrbot_system_with_external_sensor.urdf.xacro similarity index 76% rename from ros2_control_demo_description/rrbot_description/urdf/rrbot_system_with_external_sensor.urdf.xacro rename to example_5/description/urdf/rrbot_system_with_external_sensor.urdf.xacro index 4b92541de..bda130f11 100644 --- a/ros2_control_demo_description/rrbot_description/urdf/rrbot_system_with_external_sensor.urdf.xacro +++ b/example_5/description/urdf/rrbot_system_with_external_sensor.urdf.xacro @@ -14,16 +14,16 @@ https://github.com/ros-simulation/gazebo_ros_demos/blob/kinetic-devel/rrbot_desc - + - + - + - + diff --git a/example_5/doc/rrbot_wrench.png b/example_5/doc/rrbot_wrench.png new file mode 100644 index 000000000..012ca52d3 Binary files /dev/null and b/example_5/doc/rrbot_wrench.png differ diff --git a/ros2_control_demo_hardware/src/external_rrbot_force_torque_sensor.cpp b/example_5/hardware/external_rrbot_force_torque_sensor.cpp similarity index 95% rename from ros2_control_demo_hardware/src/external_rrbot_force_torque_sensor.cpp rename to example_5/hardware/external_rrbot_force_torque_sensor.cpp index 850b8bac0..3cd56adfc 100644 --- a/ros2_control_demo_hardware/src/external_rrbot_force_torque_sensor.cpp +++ b/example_5/hardware/external_rrbot_force_torque_sensor.cpp @@ -16,7 +16,7 @@ // Authors: Subhas Das, Denis Stogl // -#include "ros2_control_demo_hardware/external_rrbot_force_torque_sensor.hpp" +#include "ros2_control_demo_example_5/external_rrbot_force_torque_sensor.hpp" #include #include @@ -27,7 +27,7 @@ #include "hardware_interface/types/hardware_interface_type_values.hpp" #include "rclcpp/rclcpp.hpp" -namespace ros2_control_demo_hardware +namespace ros2_control_demo_example_5 { hardware_interface::CallbackReturn ExternalRRBotForceTorqueSensorHardware::on_init( const hardware_interface::HardwareInfo & info) @@ -133,10 +133,10 @@ hardware_interface::return_type ExternalRRBotForceTorqueSensorHardware::read( return hardware_interface::return_type::OK; } -} // namespace ros2_control_demo_hardware +} // namespace ros2_control_demo_example_5 #include "pluginlib/class_list_macros.hpp" PLUGINLIB_EXPORT_CLASS( - ros2_control_demo_hardware::ExternalRRBotForceTorqueSensorHardware, + ros2_control_demo_example_5::ExternalRRBotForceTorqueSensorHardware, hardware_interface::SensorInterface) diff --git a/ros2_control_demo_hardware/include/ros2_control_demo_hardware/external_rrbot_force_torque_sensor.hpp b/example_5/hardware/include/ros2_control_demo_example_5/external_rrbot_force_torque_sensor.hpp similarity index 77% rename from ros2_control_demo_hardware/include/ros2_control_demo_hardware/external_rrbot_force_torque_sensor.hpp rename to example_5/hardware/include/ros2_control_demo_example_5/external_rrbot_force_torque_sensor.hpp index ce3b6e6e5..97dd8a4fb 100644 --- a/ros2_control_demo_hardware/include/ros2_control_demo_hardware/external_rrbot_force_torque_sensor.hpp +++ b/example_5/hardware/include/ros2_control_demo_example_5/external_rrbot_force_torque_sensor.hpp @@ -16,8 +16,8 @@ // Authors: Subhas Das, Denis Stogl // -#ifndef ROS2_CONTROL_DEMO_HARDWARE__EXTERNAL_RRBOT_FORCE_TORQUE_SENSOR_HPP_ -#define ROS2_CONTROL_DEMO_HARDWARE__EXTERNAL_RRBOT_FORCE_TORQUE_SENSOR_HPP_ +#ifndef ROS2_CONTROL_DEMO_EXAMPLE_5__EXTERNAL_RRBOT_FORCE_TORQUE_SENSOR_HPP_ +#define ROS2_CONTROL_DEMO_EXAMPLE_5__EXTERNAL_RRBOT_FORCE_TORQUE_SENSOR_HPP_ #include #include @@ -28,31 +28,31 @@ #include "hardware_interface/sensor_interface.hpp" #include "hardware_interface/types/hardware_interface_return_values.hpp" #include "rclcpp/macros.hpp" -#include "ros2_control_demo_hardware/visibility_control.h" +#include "ros2_control_demo_example_5/visibility_control.h" -namespace ros2_control_demo_hardware +namespace ros2_control_demo_example_5 { class ExternalRRBotForceTorqueSensorHardware : public hardware_interface::SensorInterface { public: RCLCPP_SHARED_PTR_DEFINITIONS(ExternalRRBotForceTorqueSensorHardware); - ROS2_CONTROL_DEMO_HARDWARE_PUBLIC + ROS2_CONTROL_DEMO_EXAMPLE_5_PUBLIC hardware_interface::CallbackReturn on_init( const hardware_interface::HardwareInfo & info) override; - ROS2_CONTROL_DEMO_HARDWARE_PUBLIC + ROS2_CONTROL_DEMO_EXAMPLE_5_PUBLIC std::vector export_state_interfaces() override; - ROS2_CONTROL_DEMO_HARDWARE_PUBLIC + ROS2_CONTROL_DEMO_EXAMPLE_5_PUBLIC hardware_interface::CallbackReturn on_activate( const rclcpp_lifecycle::State & previous_state) override; - ROS2_CONTROL_DEMO_HARDWARE_PUBLIC + ROS2_CONTROL_DEMO_EXAMPLE_5_PUBLIC hardware_interface::CallbackReturn on_deactivate( const rclcpp_lifecycle::State & previous_state) override; - ROS2_CONTROL_DEMO_HARDWARE_PUBLIC + ROS2_CONTROL_DEMO_EXAMPLE_5_PUBLIC hardware_interface::return_type read( const rclcpp::Time & time, const rclcpp::Duration & period) override; @@ -66,6 +66,6 @@ class ExternalRRBotForceTorqueSensorHardware : public hardware_interface::Sensor std::vector hw_sensor_states_; }; -} // namespace ros2_control_demo_hardware +} // namespace ros2_control_demo_example_5 -#endif // ROS2_CONTROL_DEMO_HARDWARE__EXTERNAL_RRBOT_FORCE_TORQUE_SENSOR_HPP_ +#endif // ROS2_CONTROL_DEMO_EXAMPLE_5__EXTERNAL_RRBOT_FORCE_TORQUE_SENSOR_HPP_ diff --git a/example_5/hardware/include/ros2_control_demo_example_5/rrbot.hpp b/example_5/hardware/include/ros2_control_demo_example_5/rrbot.hpp new file mode 100644 index 000000000..c3d053464 --- /dev/null +++ b/example_5/hardware/include/ros2_control_demo_example_5/rrbot.hpp @@ -0,0 +1,81 @@ +// Copyright 2020 ros2_control Development Team +// +// 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. + +#ifndef ROS2_CONTROL_DEMO_EXAMPLE_5__RRBOT_HPP_ +#define ROS2_CONTROL_DEMO_EXAMPLE_5__RRBOT_HPP_ + +#include +#include +#include + +#include "hardware_interface/handle.hpp" +#include "hardware_interface/hardware_info.hpp" +#include "hardware_interface/system_interface.hpp" +#include "hardware_interface/types/hardware_interface_return_values.hpp" +#include "rclcpp/macros.hpp" +#include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp" +#include "rclcpp_lifecycle/state.hpp" +#include "ros2_control_demo_example_5/visibility_control.h" + +namespace ros2_control_demo_example_5 +{ +class RRBotSystemPositionOnlyHardware : public hardware_interface::SystemInterface +{ +public: + RCLCPP_SHARED_PTR_DEFINITIONS(RRBotSystemPositionOnlyHardware); + + ROS2_CONTROL_DEMO_EXAMPLE_5_PUBLIC + hardware_interface::CallbackReturn on_init( + const hardware_interface::HardwareInfo & info) override; + + ROS2_CONTROL_DEMO_EXAMPLE_5_PUBLIC + hardware_interface::CallbackReturn on_configure( + const rclcpp_lifecycle::State & previous_state) override; + + ROS2_CONTROL_DEMO_EXAMPLE_5_PUBLIC + std::vector export_state_interfaces() override; + + ROS2_CONTROL_DEMO_EXAMPLE_5_PUBLIC + std::vector export_command_interfaces() override; + + ROS2_CONTROL_DEMO_EXAMPLE_5_PUBLIC + hardware_interface::CallbackReturn on_activate( + const rclcpp_lifecycle::State & previous_state) override; + + ROS2_CONTROL_DEMO_EXAMPLE_5_PUBLIC + hardware_interface::CallbackReturn on_deactivate( + const rclcpp_lifecycle::State & previous_state) override; + + ROS2_CONTROL_DEMO_EXAMPLE_5_PUBLIC + hardware_interface::return_type read( + const rclcpp::Time & time, const rclcpp::Duration & period) override; + + ROS2_CONTROL_DEMO_EXAMPLE_5_PUBLIC + hardware_interface::return_type write( + const rclcpp::Time & time, const rclcpp::Duration & period) override; + +private: + // Parameters for the RRBot simulation + double hw_start_sec_; + double hw_stop_sec_; + double hw_slowdown_; + + // Store the command for the simulated robot + std::vector hw_commands_; + std::vector hw_states_; +}; + +} // namespace ros2_control_demo_example_5 + +#endif // ROS2_CONTROL_DEMO_EXAMPLE_5__RRBOT_HPP_ diff --git a/example_5/hardware/include/ros2_control_demo_example_5/visibility_control.h b/example_5/hardware/include/ros2_control_demo_example_5/visibility_control.h new file mode 100644 index 000000000..6be422ad1 --- /dev/null +++ b/example_5/hardware/include/ros2_control_demo_example_5/visibility_control.h @@ -0,0 +1,56 @@ +// Copyright 2021 ros2_control Development Team +// +// 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. + +/* This header must be included by all rclcpp headers which declare symbols + * which are defined in the rclcpp library. When not building the rclcpp + * library, i.e. when using the headers in other package's code, the contents + * of this header change the visibility of certain symbols which the rclcpp + * library cannot have, but the consuming code must have inorder to link. + */ + +#ifndef ROS2_CONTROL_DEMO_EXAMPLE_5__VISIBILITY_CONTROL_H_ +#define ROS2_CONTROL_DEMO_EXAMPLE_5__VISIBILITY_CONTROL_H_ + +// This logic was borrowed (then namespaced) from the examples on the gcc wiki: +// https://gcc.gnu.org/wiki/Visibility + +#if defined _WIN32 || defined __CYGWIN__ +#ifdef __GNUC__ +#define ROS2_CONTROL_DEMO_EXAMPLE_5_EXPORT __attribute__((dllexport)) +#define ROS2_CONTROL_DEMO_EXAMPLE_5_IMPORT __attribute__((dllimport)) +#else +#define ROS2_CONTROL_DEMO_EXAMPLE_5_EXPORT __declspec(dllexport) +#define ROS2_CONTROL_DEMO_EXAMPLE_5_IMPORT __declspec(dllimport) +#endif +#ifdef ROS2_CONTROL_DEMO_EXAMPLE_5_BUILDING_DLL +#define ROS2_CONTROL_DEMO_EXAMPLE_5_PUBLIC ROS2_CONTROL_DEMO_EXAMPLE_5_EXPORT +#else +#define ROS2_CONTROL_DEMO_EXAMPLE_5_PUBLIC ROS2_CONTROL_DEMO_EXAMPLE_5_IMPORT +#endif +#define ROS2_CONTROL_DEMO_EXAMPLE_5_PUBLIC_TYPE ROS2_CONTROL_DEMO_EXAMPLE_5_PUBLIC +#define ROS2_CONTROL_DEMO_EXAMPLE_5_LOCAL +#else +#define ROS2_CONTROL_DEMO_EXAMPLE_5_EXPORT __attribute__((visibility("default"))) +#define ROS2_CONTROL_DEMO_EXAMPLE_5_IMPORT +#if __GNUC__ >= 4 +#define ROS2_CONTROL_DEMO_EXAMPLE_5_PUBLIC __attribute__((visibility("default"))) +#define ROS2_CONTROL_DEMO_EXAMPLE_5_LOCAL __attribute__((visibility("hidden"))) +#else +#define ROS2_CONTROL_DEMO_EXAMPLE_5_PUBLIC +#define ROS2_CONTROL_DEMO_EXAMPLE_5_LOCAL +#endif +#define ROS2_CONTROL_DEMO_EXAMPLE_5_PUBLIC_TYPE +#endif + +#endif // ROS2_CONTROL_DEMO_EXAMPLE_5__VISIBILITY_CONTROL_H_ diff --git a/example_5/hardware/rrbot.cpp b/example_5/hardware/rrbot.cpp new file mode 100644 index 000000000..35fe1c0f2 --- /dev/null +++ b/example_5/hardware/rrbot.cpp @@ -0,0 +1,236 @@ +// Copyright 2020 ros2_control Development Team +// +// 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 "ros2_control_demo_example_5/rrbot.hpp" + +#include +#include +#include +#include +#include + +#include "hardware_interface/types/hardware_interface_type_values.hpp" +#include "rclcpp/rclcpp.hpp" + +namespace ros2_control_demo_example_5 +{ +hardware_interface::CallbackReturn RRBotSystemPositionOnlyHardware::on_init( + const hardware_interface::HardwareInfo & info) +{ + if ( + hardware_interface::SystemInterface::on_init(info) != + hardware_interface::CallbackReturn::SUCCESS) + { + return hardware_interface::CallbackReturn::ERROR; + } + + // BEGIN: This part here is for exemplary purposes - Please do not copy to your production code + hw_start_sec_ = stod(info_.hardware_parameters["example_param_hw_start_duration_sec"]); + hw_stop_sec_ = stod(info_.hardware_parameters["example_param_hw_stop_duration_sec"]); + hw_slowdown_ = stod(info_.hardware_parameters["example_param_hw_slowdown"]); + // END: This part here is for exemplary purposes - Please do not copy to your production code + hw_states_.resize(info_.joints.size(), std::numeric_limits::quiet_NaN()); + hw_commands_.resize(info_.joints.size(), std::numeric_limits::quiet_NaN()); + + for (const hardware_interface::ComponentInfo & joint : info_.joints) + { + // RRBotSystemPositionOnly has exactly one state and command interface on each joint + if (joint.command_interfaces.size() != 1) + { + RCLCPP_FATAL( + rclcpp::get_logger("RRBotSystemPositionOnlyHardware"), + "Joint '%s' has %zu command interfaces found. 1 expected.", joint.name.c_str(), + joint.command_interfaces.size()); + return hardware_interface::CallbackReturn::ERROR; + } + + if (joint.command_interfaces[0].name != hardware_interface::HW_IF_POSITION) + { + RCLCPP_FATAL( + rclcpp::get_logger("RRBotSystemPositionOnlyHardware"), + "Joint '%s' have %s command interfaces found. '%s' expected.", joint.name.c_str(), + joint.command_interfaces[0].name.c_str(), hardware_interface::HW_IF_POSITION); + return hardware_interface::CallbackReturn::ERROR; + } + + if (joint.state_interfaces.size() != 1) + { + RCLCPP_FATAL( + rclcpp::get_logger("RRBotSystemPositionOnlyHardware"), + "Joint '%s' has %zu state interface. 1 expected.", joint.name.c_str(), + joint.state_interfaces.size()); + return hardware_interface::CallbackReturn::ERROR; + } + + if (joint.state_interfaces[0].name != hardware_interface::HW_IF_POSITION) + { + RCLCPP_FATAL( + rclcpp::get_logger("RRBotSystemPositionOnlyHardware"), + "Joint '%s' have %s state interface. '%s' expected.", joint.name.c_str(), + joint.state_interfaces[0].name.c_str(), hardware_interface::HW_IF_POSITION); + return hardware_interface::CallbackReturn::ERROR; + } + } + + return hardware_interface::CallbackReturn::SUCCESS; +} + +hardware_interface::CallbackReturn RRBotSystemPositionOnlyHardware::on_configure( + const rclcpp_lifecycle::State & /*previous_state*/) +{ + // BEGIN: This part here is for exemplary purposes - Please do not copy to your production code + RCLCPP_INFO( + rclcpp::get_logger("RRBotSystemPositionOnlyHardware"), "Configuring ...please wait..."); + + for (int i = 0; i < hw_start_sec_; i++) + { + rclcpp::sleep_for(std::chrono::seconds(1)); + RCLCPP_INFO( + rclcpp::get_logger("RRBotSystemPositionOnlyHardware"), "%.1f seconds left...", + hw_start_sec_ - i); + } + // END: This part here is for exemplary purposes - Please do not copy to your production code + + // reset values always when configuring hardware + for (uint i = 0; i < hw_states_.size(); i++) + { + hw_states_[i] = 0; + hw_commands_[i] = 0; + } + + RCLCPP_INFO(rclcpp::get_logger("RRBotSystemPositionOnlyHardware"), "Successfully configured!"); + + return hardware_interface::CallbackReturn::SUCCESS; +} + +std::vector +RRBotSystemPositionOnlyHardware::export_state_interfaces() +{ + std::vector state_interfaces; + for (uint i = 0; i < info_.joints.size(); i++) + { + state_interfaces.emplace_back(hardware_interface::StateInterface( + info_.joints[i].name, hardware_interface::HW_IF_POSITION, &hw_states_[i])); + } + + return state_interfaces; +} + +std::vector +RRBotSystemPositionOnlyHardware::export_command_interfaces() +{ + std::vector command_interfaces; + for (uint i = 0; i < info_.joints.size(); i++) + { + command_interfaces.emplace_back(hardware_interface::CommandInterface( + info_.joints[i].name, hardware_interface::HW_IF_POSITION, &hw_commands_[i])); + } + + return command_interfaces; +} + +hardware_interface::CallbackReturn RRBotSystemPositionOnlyHardware::on_activate( + const rclcpp_lifecycle::State & /*previous_state*/) +{ + // BEGIN: This part here is for exemplary purposes - Please do not copy to your production code + RCLCPP_INFO( + rclcpp::get_logger("RRBotSystemPositionOnlyHardware"), "Activating ...please wait..."); + + for (int i = 0; i < hw_start_sec_; i++) + { + rclcpp::sleep_for(std::chrono::seconds(1)); + RCLCPP_INFO( + rclcpp::get_logger("RRBotSystemPositionOnlyHardware"), "%.1f seconds left...", + hw_start_sec_ - i); + } + // END: This part here is for exemplary purposes - Please do not copy to your production code + + // command and state should be equal when starting + for (uint i = 0; i < hw_states_.size(); i++) + { + hw_commands_[i] = hw_states_[i]; + } + + RCLCPP_INFO(rclcpp::get_logger("RRBotSystemPositionOnlyHardware"), "Successfully activated!"); + + return hardware_interface::CallbackReturn::SUCCESS; +} + +hardware_interface::CallbackReturn RRBotSystemPositionOnlyHardware::on_deactivate( + const rclcpp_lifecycle::State & /*previous_state*/) +{ + // BEGIN: This part here is for exemplary purposes - Please do not copy to your production code + RCLCPP_INFO( + rclcpp::get_logger("RRBotSystemPositionOnlyHardware"), "Deactivating ...please wait..."); + + for (int i = 0; i < hw_stop_sec_; i++) + { + rclcpp::sleep_for(std::chrono::seconds(1)); + RCLCPP_INFO( + rclcpp::get_logger("RRBotSystemPositionOnlyHardware"), "%.1f seconds left...", + hw_stop_sec_ - i); + } + + RCLCPP_INFO(rclcpp::get_logger("RRBotSystemPositionOnlyHardware"), "Successfully deactivated!"); + // END: This part here is for exemplary purposes - Please do not copy to your production code + + return hardware_interface::CallbackReturn::SUCCESS; +} + +hardware_interface::return_type RRBotSystemPositionOnlyHardware::read( + const rclcpp::Time & /*time*/, const rclcpp::Duration & /*period*/) +{ + // BEGIN: This part here is for exemplary purposes - Please do not copy to your production code + RCLCPP_INFO(rclcpp::get_logger("RRBotSystemPositionOnlyHardware"), "Reading..."); + + for (uint i = 0; i < hw_states_.size(); i++) + { + // Simulate RRBot's movement + hw_states_[i] = hw_states_[i] + (hw_commands_[i] - hw_states_[i]) / hw_slowdown_; + RCLCPP_INFO( + rclcpp::get_logger("RRBotSystemPositionOnlyHardware"), "Got state %.5f for joint %d!", + hw_states_[i], i); + } + RCLCPP_INFO(rclcpp::get_logger("RRBotSystemPositionOnlyHardware"), "Joints successfully read!"); + // END: This part here is for exemplary purposes - Please do not copy to your production code + + return hardware_interface::return_type::OK; +} + +hardware_interface::return_type RRBotSystemPositionOnlyHardware::write( + const rclcpp::Time & /*time*/, const rclcpp::Duration & /*period*/) +{ + // BEGIN: This part here is for exemplary purposes - Please do not copy to your production code + RCLCPP_INFO(rclcpp::get_logger("RRBotSystemPositionOnlyHardware"), "Writing..."); + + for (uint i = 0; i < hw_commands_.size(); i++) + { + // Simulate sending commands to the hardware + RCLCPP_INFO( + rclcpp::get_logger("RRBotSystemPositionOnlyHardware"), "Got command %.5f for joint %d!", + hw_commands_[i], i); + } + RCLCPP_INFO( + rclcpp::get_logger("RRBotSystemPositionOnlyHardware"), "Joints successfully written!"); + // END: This part here is for exemplary purposes - Please do not copy to your production code + + return hardware_interface::return_type::OK; +} + +} // namespace ros2_control_demo_example_5 + +#include "pluginlib/class_list_macros.hpp" + +PLUGINLIB_EXPORT_CLASS( + ros2_control_demo_example_5::RRBotSystemPositionOnlyHardware, hardware_interface::SystemInterface) diff --git a/example_5/package.xml b/example_5/package.xml new file mode 100644 index 000000000..b524ba54e --- /dev/null +++ b/example_5/package.xml @@ -0,0 +1,25 @@ + + + + ros2_control_demo_example_5 + 0.0.0 + Demo package of `ros2_control` hardware for RRbot with integrated sensor. + + Denis Štogl + Dr.techn. Christoph Froehlich + + Apache-2.0 + + ament_cmake + + hardware_interface + pluginlib + rclcpp + rclcpp_lifecycle + + ament_cmake_gtest + + + ament_cmake + + diff --git a/example_5/ros2_control_demo_example_5.xml b/example_5/ros2_control_demo_example_5.xml new file mode 100644 index 000000000..7635e13b6 --- /dev/null +++ b/example_5/ros2_control_demo_example_5.xml @@ -0,0 +1,16 @@ + + + + The ros2_control RRBot example using external Force Torque Sensor where it is separate from the RRBot. + + + + + The ROS2 Control minimal robot protocol. This is example for start porting the robot from ROS 1. + + + diff --git a/ros2_control_demo_hardware/ros2_control_demo_hardware.xml b/ros2_control_demo_hardware/ros2_control_demo_hardware.xml index 37a00aa6c..a718055b5 100644 --- a/ros2_control_demo_hardware/ros2_control_demo_hardware.xml +++ b/ros2_control_demo_hardware/ros2_control_demo_hardware.xml @@ -13,13 +13,6 @@ The ros2_control robot with 2 separate actuators which can be controlled by 2 different endpoints. - - - The ros2_control RRBot example using external Force Torque Sensor where it is separate from the RRBot. - -