From 15f75266167b4005c0974c61190b28cd665cd297 Mon Sep 17 00:00:00 2001 From: Kishan Sawant Date: Thu, 21 Nov 2024 16:43:52 +0100 Subject: [PATCH 01/22] refactor --- config/eddie_controller.yaml | 104 +++++++++++++++++----------------- eddie_gazebo/arms_control.py | 28 ++++----- launch/eddie_gazebo.launch.py | 11 ++-- 3 files changed, 70 insertions(+), 73 deletions(-) diff --git a/config/eddie_controller.yaml b/config/eddie_controller.yaml index 1c02d9f..f9829a5 100644 --- a/config/eddie_controller.yaml +++ b/config/eddie_controller.yaml @@ -29,13 +29,13 @@ controller_manager: arm_left_joint_trajectory_controller: ros__parameters: joints: - - kinova_left_joint_1 - - kinova_left_joint_2 - - kinova_left_joint_3 - - kinova_left_joint_4 - - kinova_left_joint_5 - - kinova_left_joint_6 - - kinova_left_joint_7 + - eddie_right_arm_joint1 + - eddie_right_arm_joint2 + - eddie_right_arm_joint3 + - eddie_right_arm_joint4 + - eddie_right_arm_joint5 + - eddie_right_arm_joint6 + - eddie_right_arm_joint7 command_interfaces: - position state_interfaces: @@ -52,13 +52,13 @@ arm_left_joint_trajectory_controller: arm_right_joint_trajectory_controller: ros__parameters: joints: - - kinova_right_joint_1 - - kinova_right_joint_2 - - kinova_right_joint_3 - - kinova_right_joint_4 - - kinova_right_joint_5 - - kinova_right_joint_6 - - kinova_right_joint_7 + - eddie_right_arm_joint_1 + - eddie_right_arm_joint_2 + - eddie_right_arm_joint_3 + - eddie_right_arm_joint_4 + - eddie_right_arm_joint_5 + - eddie_right_arm_joint_6 + - eddie_right_arm_joint_7 command_interfaces: - position state_interfaces: @@ -74,13 +74,13 @@ arm_right_joint_trajectory_controller: arm_right_effort_controller: ros__parameters: joints: - - kinova_right_joint_1 - - kinova_right_joint_2 - - kinova_right_joint_3 - - kinova_right_joint_4 - - kinova_right_joint_5 - - kinova_right_joint_6 - - kinova_right_joint_7 + - eddie_right_arm_joint_1 + - eddie_right_arm_joint_2 + - eddie_right_arm_joint_3 + - eddie_right_arm_joint_4 + - eddie_right_arm_joint_5 + - eddie_right_arm_joint_6 + - eddie_right_arm_joint_7 command_interfaces: - effort state_interfaces: @@ -96,13 +96,13 @@ arm_right_effort_controller: arm_left_effort_controller: ros__parameters: joints: - - kinova_left_joint_1 - - kinova_left_joint_2 - - kinova_left_joint_3 - - kinova_left_joint_4 - - kinova_left_joint_5 - - kinova_left_joint_6 - - kinova_left_joint_7 + - eddie_right_arm_joint1 + - eddie_right_arm_joint2 + - eddie_right_arm_joint3 + - eddie_right_arm_joint4 + - eddie_right_arm_joint5 + - eddie_right_arm_joint6 + - eddie_right_arm_joint7 command_interfaces: - effort state_interfaces: @@ -118,35 +118,35 @@ arm_left_effort_controller: base_position_controller: ros__parameters: joints: - - kelo_drive_front_left_hub_left_joint - - kelo_drive_front_left_hub_right_joint - - kelo_drive_front_right_hub_left_joint - - kelo_drive_front_right_hub_right_joint - - kelo_drive_rear_right_hub_left_joint - - kelo_drive_rear_right_hub_right_joint - - kelo_drive_rear_left_hub_left_joint - - kelo_drive_rear_left_hub_right_joint + - eddie_front_left_drive_left_wheel_joint + - eddie_front_left_drive_right_wheel_joint + - eddie_front_right_drive_left_wheel_joint + - eddie_front_right_drive_right_wheel_joint + - eddie_rear_right_drive_left_wheel_joint + - eddie_rear_right_drive_right_wheel_joint + - eddie_rear_left_drive_left_wheel_joint + - eddie_rear_left_drive_right_wheel_joint base_velocity_controller: ros__parameters: joints: - - kelo_drive_front_left_hub_left_joint - - kelo_drive_front_left_hub_right_joint - - kelo_drive_front_right_hub_left_joint - - kelo_drive_front_right_hub_right_joint - - kelo_drive_rear_right_hub_left_joint - - kelo_drive_rear_right_hub_right_joint - - kelo_drive_rear_left_hub_left_joint - - kelo_drive_rear_left_hub_right_joint + - eddie_front_left_drive_left_wheel_joint + - eddie_front_left_drive_right_wheel_joint + - eddie_front_right_drive_left_wheel_joint + - eddie_front_right_drive_right_wheel_joint + - eddie_rear_right_drive_left_wheel_joint + - eddie_rear_right_drive_right_wheel_joint + - eddie_rear_left_drive_left_wheel_joint + - eddie_rear_left_drive_right_wheel_joint base_effort_controller: ros__parameters: joints: - - kelo_drive_front_left_hub_left_joint - - kelo_drive_front_left_hub_right_joint - - kelo_drive_front_right_hub_left_joint - - kelo_drive_front_right_hub_right_joint - - kelo_drive_rear_right_hub_left_joint - - kelo_drive_rear_right_hub_right_joint - - kelo_drive_rear_left_hub_left_joint - - kelo_drive_rear_left_hub_right_joint + - eddie_front_left_drive_left_wheel_joint + - eddie_front_left_drive_right_wheel_joint + - eddie_front_right_drive_left_wheel_joint + - eddie_front_right_drive_right_wheel_joint + - eddie_rear_right_drive_left_wheel_joint + - eddie_rear_right_drive_right_wheel_joint + - eddie_rear_left_drive_left_wheel_joint + - eddie_rear_left_drive_right_wheel_joint diff --git a/eddie_gazebo/arms_control.py b/eddie_gazebo/arms_control.py index f463708..966b952 100755 --- a/eddie_gazebo/arms_control.py +++ b/eddie_gazebo/arms_control.py @@ -5,21 +5,21 @@ from std_msgs.msg import Header -arm_left_joints = [ "kinova_left_joint_1", - "kinova_left_joint_2", - "kinova_left_joint_3", - "kinova_left_joint_4", - "kinova_left_joint_5", - "kinova_left_joint_6", - "kinova_left_joint_7"] +arm_left_joints = [ "eddie_left_arm_joint_1", + "eddie_left_arm_joint_2", + "eddie_left_arm_joint_3", + "eddie_left_arm_joint_4", + "eddie_left_arm_joint_5", + "eddie_left_arm_joint_6", + "eddie_left_arm_joint_7"] -arm_right_joints = [ "kinova_right_joint_1", - "kinova_right_joint_2", - "kinova_right_joint_3", - "kinova_right_joint_4", - "kinova_right_joint_5", - "kinova_right_joint_6", - "kinova_right_joint_7"] +arm_right_joints = [ "eddie_right_arm_joint_1", + "eddie_right_arm_joint_2", + "eddie_right_arm_joint_3", + "eddie_right_arm_joint_4", + "eddie_right_arm_joint_5", + "eddie_right_arm_joint_6", + "eddie_right_arm_joint_7"] class ArmControllerPublisher(Node): """This class executes a sample trajectory for a robotic arm diff --git a/launch/eddie_gazebo.launch.py b/launch/eddie_gazebo.launch.py index 7b7ed08..99cbe2b 100644 --- a/launch/eddie_gazebo.launch.py +++ b/launch/eddie_gazebo.launch.py @@ -192,14 +192,11 @@ def generate_launch_description(): # Resource paths to be added to the GZ_SIM_RESOURCE_PATH environment variable resource_paths = [ pkg_eddie_description, - os.path.join(pkg_eddie_description, "eddie_base_description", "meshes"), - os.path.join( - pkg_eddie_description, "eddie_base_description", "meshes", "sensors" - ), - os.path.join(pkg_eddie_description, "eddie_torso_description", "meshes"), + os.path.join(pkg_eddie_description, "meshes"), ] resource_paths_str = os.pathsep.join(resource_paths) - + print("#############################################################", resource_paths_str) + print("resource_paths_str: ", resource_paths_str) # Set the environment variable GZ_SIM_RESOURCE_PATH to include the resource paths set_env_vars_resources = AppendEnvironmentVariable( name="GZ_SIM_RESOURCE_PATH", @@ -214,7 +211,7 @@ def generate_launch_description(): PathJoinSubstitution([FindExecutable(name="xacro")]), " ", PathJoinSubstitution( - [FindPackageShare("eddie_description"), "robots", "eddie.urdf.xacro"] + [FindPackageShare("eddie_description"), "urdf", "eddie_robot.urdf.xacro"] ), ] ) From cf35029dedc24f46278ca40ed6704aa65c5aa45c Mon Sep 17 00:00:00 2001 From: Vamsi Date: Fri, 22 Nov 2024 14:12:54 +0100 Subject: [PATCH 02/22] fixed resource path env variable string for gazebo --- launch/eddie_gazebo.launch.py | 39 +++++++++++++++++++++-------------- 1 file changed, 24 insertions(+), 15 deletions(-) diff --git a/launch/eddie_gazebo.launch.py b/launch/eddie_gazebo.launch.py index 99cbe2b..7f45d92 100644 --- a/launch/eddie_gazebo.launch.py +++ b/launch/eddie_gazebo.launch.py @@ -1,17 +1,16 @@ import os -import xacro from ament_index_python.packages import get_package_share_directory from launch import LaunchDescription from launch.actions import ( AppendEnvironmentVariable, + SetEnvironmentVariable, DeclareLaunchArgument, ExecuteProcess, IncludeLaunchDescription, OpaqueFunction, RegisterEventHandler, ) -from launch.conditions import IfCondition, UnlessCondition from launch.event_handlers import OnProcessExit from launch.launch_description_sources import PythonLaunchDescriptionSource from launch.substitutions import ( @@ -21,7 +20,6 @@ PathJoinSubstitution, ) from launch_ros.actions import Node -from launch_ros.descriptions import ParameterValue from launch_ros.substitutions import FindPackageShare @@ -187,21 +185,32 @@ def generate_launch_description(): # Get package directories pkg_eddie_gazebo = get_package_share_directory("eddie_gazebo") - pkg_eddie_description = get_package_share_directory("eddie_description") + pkg_eddie_share_description = get_package_share_directory("eddie_description") + pkg_robotiq_share_description = get_package_share_directory("robotiq_description") # Resource paths to be added to the GZ_SIM_RESOURCE_PATH environment variable resource_paths = [ - pkg_eddie_description, - os.path.join(pkg_eddie_description, "meshes"), + os.path.join(pkg_eddie_share_description, ".."), + os.path.join(pkg_robotiq_share_description, ".."), ] - resource_paths_str = os.pathsep.join(resource_paths) - print("#############################################################", resource_paths_str) - print("resource_paths_str: ", resource_paths_str) - # Set the environment variable GZ_SIM_RESOURCE_PATH to include the resource paths - set_env_vars_resources = AppendEnvironmentVariable( - name="GZ_SIM_RESOURCE_PATH", - value=resource_paths_str, - ) + resource_paths_str = ":".join(resource_paths) + + gz_reource_env_var = "GZ_SIM_RESOURCE_PATH" + + # check if the environment variable is already set + if gz_reource_env_var in os.environ: + resource_paths_str = os.environ[gz_reource_env_var] + ":" + resource_paths_str + + # append the new path to the existing path + set_env_vars_resources = AppendEnvironmentVariable( + name=gz_reource_env_var, value=resource_paths_str + ) + + else: + # set the new path + set_env_vars_resources = SetEnvironmentVariable( + name=gz_reource_env_var, value=resource_paths_str + ) # World and robot files world_file = os.path.join(pkg_eddie_gazebo, "worlds", "my_world.sdf") @@ -273,7 +282,7 @@ def generate_launch_description(): ) ] ), - launch_arguments=[("gz_args", [f" -r -v 1 {world_file}"])], + launch_arguments=[("gz_args", [f" -r -v 1 --physics-engine gz-physics-bullet-featherstone-plugin {world_file}"])], ), RegisterEventHandler( event_handler=OnProcessExit( From ba010a9df03c3040dce6024e4d0e17299fe18d37 Mon Sep 17 00:00:00 2001 From: Vamsi Date: Fri, 22 Nov 2024 15:52:42 +0100 Subject: [PATCH 03/22] added timeout for controller spawners --- ...controller.yaml => eddie_controllers.yaml} | 28 ++-- eddie_gazebo/eddie_control.py | 2 +- launch/eddie_gazebo.launch.py | 149 +++++++++--------- 3 files changed, 93 insertions(+), 86 deletions(-) rename config/{eddie_controller.yaml => eddie_controllers.yaml} (90%) diff --git a/config/eddie_controller.yaml b/config/eddie_controllers.yaml similarity index 90% rename from config/eddie_controller.yaml rename to config/eddie_controllers.yaml index f9829a5..46b552d 100644 --- a/config/eddie_controller.yaml +++ b/config/eddie_controllers.yaml @@ -29,13 +29,13 @@ controller_manager: arm_left_joint_trajectory_controller: ros__parameters: joints: - - eddie_right_arm_joint1 - - eddie_right_arm_joint2 - - eddie_right_arm_joint3 - - eddie_right_arm_joint4 - - eddie_right_arm_joint5 - - eddie_right_arm_joint6 - - eddie_right_arm_joint7 + - eddie_left_arm_joint_1 + - eddie_left_arm_joint_2 + - eddie_left_arm_joint_3 + - eddie_left_arm_joint_4 + - eddie_left_arm_joint_5 + - eddie_left_arm_joint_6 + - eddie_left_arm_joint_7 command_interfaces: - position state_interfaces: @@ -96,13 +96,13 @@ arm_right_effort_controller: arm_left_effort_controller: ros__parameters: joints: - - eddie_right_arm_joint1 - - eddie_right_arm_joint2 - - eddie_right_arm_joint3 - - eddie_right_arm_joint4 - - eddie_right_arm_joint5 - - eddie_right_arm_joint6 - - eddie_right_arm_joint7 + - eddie_left_arm_joint_1 + - eddie_left_arm_joint_2 + - eddie_left_arm_joint_3 + - eddie_left_arm_joint_4 + - eddie_left_arm_joint_5 + - eddie_left_arm_joint_6 + - eddie_left_arm_joint_7 command_interfaces: - effort state_interfaces: diff --git a/eddie_gazebo/eddie_control.py b/eddie_gazebo/eddie_control.py index f3c151b..feadf2d 100644 --- a/eddie_gazebo/eddie_control.py +++ b/eddie_gazebo/eddie_control.py @@ -73,7 +73,7 @@ def __init__(self, self.get_logger().info(f"Setting up command interface for selected arm controller: {arm_controller_name}") self.get_logger().info(f"Setting up command interface for selected base controller: {base_controller_name}") - with open('install/eddie_gazebo/share/eddie_gazebo/config/eddie_controller.yaml') \ + with open('install/eddie_gazebo/share/eddie_gazebo/config/eddie_controllers.yaml') \ as param_file: controller_params = yaml.safe_load(param_file) diff --git a/launch/eddie_gazebo.launch.py b/launch/eddie_gazebo.launch.py index 7f45d92..cced683 100644 --- a/launch/eddie_gazebo.launch.py +++ b/launch/eddie_gazebo.launch.py @@ -44,89 +44,89 @@ def select_controller(context, *args, **kwargs): declared_arm_controller = LaunchConfiguration("arm_controller").perform(context) # Load and activate the arm effort controllers - load_arm_left_effort_controller = ExecuteProcess( - cmd=[ - "ros2", - "control", - "load_controller", - "--set-state", - "active", + load_arm_left_effort_controller = Node( + package="controller_manager", + executable="spawner", + arguments=[ "arm_left_effort_controller", + "-c", + "controller_manager", + "--controller-manager-timeout", + "30", ], - output="screen", ) - load_arm_right_effort_controller = ExecuteProcess( - cmd=[ - "ros2", - "control", - "load_controller", - "--set-state", - "active", + load_arm_right_effort_controller = Node( + package="controller_manager", + executable="spawner", + arguments=[ "arm_right_effort_controller", + "-c", + "controller_manager", + "--controller-manager-timeout", + "30", ], - output="screen", ) # Load and activate the arm joint trajectory controllers - load_joint_trajectory_controller_left = ExecuteProcess( - cmd=[ - "ros2", - "control", - "load_controller", - "--set-state", - "active", + load_joint_trajectory_controller_left = Node( + package="controller_manager", + executable="spawner", + arguments=[ "arm_left_joint_trajectory_controller", + "-c", + "controller_manager", + "--controller-manager-timeout", + "30", ], - output="both", ) - load_joint_trajectory_controller_right = ExecuteProcess( - cmd=[ - "ros2", - "control", - "load_controller", - "--set-state", - "active", + load_joint_trajectory_controller_right = Node( + package="controller_manager", + executable="spawner", + arguments=[ "arm_right_joint_trajectory_controller", + "-c", + "controller_manager", + "--controller-manager-timeout", + "30", ], - output="both", ) # Load and activate the base controllers - load_joint_position_controller = ExecuteProcess( - cmd=[ - "ros2", - "control", - "load_controller", - "--set-state", - "active", + load_joint_position_controller = Node( + package="controller_manager", + executable="spawner", + arguments=[ "base_position_controller", + "-c", + "controller_manager", + "--controller-manager-timeout", + "30", ], - output="screen", ) - load_joint_velocity_controller = ExecuteProcess( - cmd=[ - "ros2", - "control", - "load_controller", - "--set-state", - "active", + load_joint_velocity_controller = Node( + package="controller_manager", + executable="spawner", + arguments=[ "base_velocity_controller", + "-c", + "controller_manager", + "--controller-manager-timeout", + "30", ], - output="screen", ) - load_joint_effort_controller = ExecuteProcess( - cmd=[ - "ros2", - "control", - "load_controller", - "--set-state", - "active", + load_joint_effort_controller = Node( + package="controller_manager", + executable="spawner", + arguments=[ "base_effort_controller", + "-c", + "controller_manager", + "--controller-manager-timeout", + "30", ], - output="screen", ) # Define a dictionary to map the declared base controller type to its corresponding controllers @@ -153,7 +153,7 @@ def select_controller(context, *args, **kwargs): # Return the selected base and arm controllers for execution return [ base_controller_map[declared_base_controller] - ] # , *arm_controller_map[declared_arm_controller]] + , *arm_controller_map[declared_arm_controller]] def generate_launch_description(): @@ -220,20 +220,24 @@ def generate_launch_description(): PathJoinSubstitution([FindExecutable(name="xacro")]), " ", PathJoinSubstitution( - [FindPackageShare("eddie_description"), "urdf", "eddie_robot.urdf.xacro"] + [ + FindPackageShare("eddie_description"), + "urdf", + "eddie_robot.urdf.xacro", + ] ), ] ) - # Load the joint state broadcaster controller on robot spawn -- see function return - load_joint_state_broadcaster = ExecuteProcess( - cmd=[ - "ros2", - "control", - "load_controller", - "--set-state", - "active", + load_joint_state_broadcaster = Node( + package="controller_manager", + executable="spawner", + arguments=[ "joint_state_broadcaster", + "-c", + "controller_manager", + "--controller-manager-timeout", + "30", ], output="screen", ) @@ -266,10 +270,8 @@ def generate_launch_description(): return LaunchDescription( [ set_env_vars_resources, - # Declare and set base and arm controllers through launch arguments declare_base_controller_type, declare_arm_controller_type, - # Launch gazebo environment IncludeLaunchDescription( PythonLaunchDescriptionSource( [ @@ -282,7 +284,14 @@ def generate_launch_description(): ) ] ), - launch_arguments=[("gz_args", [f" -r -v 1 --physics-engine gz-physics-bullet-featherstone-plugin {world_file}"])], + launch_arguments=[ + ( + "gz_args", + [ + f" -r -v 1 --physics-engine gz-physics-bullet-featherstone-plugin {world_file}" + ], + ) + ], ), RegisterEventHandler( event_handler=OnProcessExit( @@ -290,7 +299,6 @@ def generate_launch_description(): on_exit=[load_joint_state_broadcaster], ) ), - # Load selected controllers or default controllers RegisterEventHandler( event_handler=OnProcessExit( target_action=load_joint_state_broadcaster, @@ -299,7 +307,6 @@ def generate_launch_description(): ), node_robot_state_publisher, gz_spawn_entity, - # Launch Arguments DeclareLaunchArgument( "use_sim_time", default_value=use_sim_time, From ac6f09429d5c9d887cbdbf651e8648ab92232b18 Mon Sep 17 00:00:00 2001 From: Kishan Sawant Date: Fri, 22 Nov 2024 17:14:16 +0100 Subject: [PATCH 04/22] add state interface for wheel units and rviz --- config/eddie_controllers.yaml | 49 ++++++++++++++++++++++++++++++++++- launch/eddie_gazebo.launch.py | 14 ++++++++++ 2 files changed, 62 insertions(+), 1 deletion(-) diff --git a/config/eddie_controllers.yaml b/config/eddie_controllers.yaml index 46b552d..cef376f 100644 --- a/config/eddie_controllers.yaml +++ b/config/eddie_controllers.yaml @@ -5,6 +5,9 @@ controller_manager: joint_state_broadcaster: type: joint_state_broadcaster/JointStateBroadcaster + base_wheel_unit_pivot_state: + type: joint_state_broadcaster/JointStateBroadcaster + arm_right_joint_trajectory_controller: type: joint_trajectory_controller/JointTrajectoryController @@ -48,7 +51,6 @@ arm_left_joint_trajectory_controller: stopped_velocity_tolerance: 0.0 goal_time: 0.0 - arm_right_joint_trajectory_controller: ros__parameters: joints: @@ -126,6 +128,17 @@ base_position_controller: - eddie_rear_right_drive_right_wheel_joint - eddie_rear_left_drive_left_wheel_joint - eddie_rear_left_drive_right_wheel_joint + command_interfaces: + - position + state_interfaces: + - position + - velocity + state_publish_rate: 100.0 + action_monitor_rate: 20.0 + allow_partial_joints_goal: false + constraints: + stopped_velocity_tolerance: 0.0 + goal_time: 0.0 base_velocity_controller: ros__parameters: @@ -138,6 +151,17 @@ base_velocity_controller: - eddie_rear_right_drive_right_wheel_joint - eddie_rear_left_drive_left_wheel_joint - eddie_rear_left_drive_right_wheel_joint + command_interfaces: + - velocity + state_interfaces: + - position + - velocity + state_publish_rate: 100.0 + action_monitor_rate: 20.0 + allow_partial_joints_goal: false + constraints: + stopped_velocity_tolerance: 0.0 + goal_time: 0.0 base_effort_controller: ros__parameters: @@ -150,3 +174,26 @@ base_effort_controller: - eddie_rear_right_drive_right_wheel_joint - eddie_rear_left_drive_left_wheel_joint - eddie_rear_left_drive_right_wheel_joint + command_interfaces: + - effort + state_interfaces: + - position + - velocity + state_publish_rate: 100.0 + action_monitor_rate: 20.0 + allow_partial_joints_goal: false + constraints: + stopped_velocity_tolerance: 0.0 + goal_time: 0.0 + +base_wheel_unit_pivot_state: + ros__parameters: + joints: + - eddie_front_left_drive_struct_joint + - eddie_front_right_drive_struct_joint + - eddie_rear_left_drive_struct_joint + - eddie_rear_right_drive_struct_joint + state_interfaces: + - position + - velocity + state_publish_rate: 100.0 \ No newline at end of file diff --git a/launch/eddie_gazebo.launch.py b/launch/eddie_gazebo.launch.py index cced683..99833da 100644 --- a/launch/eddie_gazebo.launch.py +++ b/launch/eddie_gazebo.launch.py @@ -176,6 +176,11 @@ def generate_launch_description(): description="Specify controller for base (position, velocity, effort) (default: velocity)", ) + # Declare path of rviz configuration file + eddie_rviz_config_file = os.path.join( + get_package_share_directory("eddie_description"), "config/rviz", "eddie.rviz" + ) + # Declare the arm controller argument with a default value of "joint_trajectory" declare_arm_controller_type = DeclareLaunchArgument( "arm_controller", @@ -266,12 +271,21 @@ def generate_launch_description(): "true", ], ) + + rviz2_node = Node( + package="rviz2", + executable="rviz2", + name="rviz2", + arguments=['-d', eddie_rviz_config_file], + output="screen", + ) return LaunchDescription( [ set_env_vars_resources, declare_base_controller_type, declare_arm_controller_type, + rviz2_node, IncludeLaunchDescription( PythonLaunchDescriptionSource( [ From e44c328675b9b94e691ca96b4640ebb24470588c Mon Sep 17 00:00:00 2001 From: Vamsi Date: Fri, 22 Nov 2024 22:26:15 +0100 Subject: [PATCH 05/22] set the gz physics engine to default --- config/eddie_controllers.yaml | 77 +++++++++++++++++------------------ launch/eddie_gazebo.launch.py | 48 +++++++++++----------- worlds/my_world.sdf | 2 +- 3 files changed, 61 insertions(+), 66 deletions(-) diff --git a/config/eddie_controllers.yaml b/config/eddie_controllers.yaml index cef376f..248e0ab 100644 --- a/config/eddie_controllers.yaml +++ b/config/eddie_controllers.yaml @@ -5,9 +5,6 @@ controller_manager: joint_state_broadcaster: type: joint_state_broadcaster/JointStateBroadcaster - base_wheel_unit_pivot_state: - type: joint_state_broadcaster/JointStateBroadcaster - arm_right_joint_trajectory_controller: type: joint_trajectory_controller/JointTrajectoryController @@ -128,17 +125,17 @@ base_position_controller: - eddie_rear_right_drive_right_wheel_joint - eddie_rear_left_drive_left_wheel_joint - eddie_rear_left_drive_right_wheel_joint - command_interfaces: - - position - state_interfaces: - - position - - velocity - state_publish_rate: 100.0 - action_monitor_rate: 20.0 - allow_partial_joints_goal: false - constraints: - stopped_velocity_tolerance: 0.0 - goal_time: 0.0 + # command_interfaces: + # - position + # state_interfaces: + # - position + # - velocity + # state_publish_rate: 100.0 + # action_monitor_rate: 20.0 + # allow_partial_joints_goal: false + # constraints: + # stopped_velocity_tolerance: 0.0 + # goal_time: 0.0 base_velocity_controller: ros__parameters: @@ -151,17 +148,17 @@ base_velocity_controller: - eddie_rear_right_drive_right_wheel_joint - eddie_rear_left_drive_left_wheel_joint - eddie_rear_left_drive_right_wheel_joint - command_interfaces: - - velocity - state_interfaces: - - position - - velocity - state_publish_rate: 100.0 - action_monitor_rate: 20.0 - allow_partial_joints_goal: false - constraints: - stopped_velocity_tolerance: 0.0 - goal_time: 0.0 + # command_interfaces: + # - velocity + # state_interfaces: + # - position + # - velocity + # state_publish_rate: 100.0 + # action_monitor_rate: 20.0 + # allow_partial_joints_goal: false + # constraints: + # stopped_velocity_tolerance: 0.0 + # goal_time: 0.0 base_effort_controller: ros__parameters: @@ -174,17 +171,17 @@ base_effort_controller: - eddie_rear_right_drive_right_wheel_joint - eddie_rear_left_drive_left_wheel_joint - eddie_rear_left_drive_right_wheel_joint - command_interfaces: - - effort - state_interfaces: - - position - - velocity - state_publish_rate: 100.0 - action_monitor_rate: 20.0 - allow_partial_joints_goal: false - constraints: - stopped_velocity_tolerance: 0.0 - goal_time: 0.0 + # command_interfaces: + # - effort + # state_interfaces: + # - position + # - velocity + # state_publish_rate: 100.0 + # action_monitor_rate: 20.0 + # allow_partial_joints_goal: false + # constraints: + # stopped_velocity_tolerance: 0.0 + # goal_time: 0.0 base_wheel_unit_pivot_state: ros__parameters: @@ -193,7 +190,7 @@ base_wheel_unit_pivot_state: - eddie_front_right_drive_struct_joint - eddie_rear_left_drive_struct_joint - eddie_rear_right_drive_struct_joint - state_interfaces: - - position - - velocity - state_publish_rate: 100.0 \ No newline at end of file + # state_interfaces: + # - position + # - velocity + # state_publish_rate: 100.0 \ No newline at end of file diff --git a/launch/eddie_gazebo.launch.py b/launch/eddie_gazebo.launch.py index 99833da..38c305f 100644 --- a/launch/eddie_gazebo.launch.py +++ b/launch/eddie_gazebo.launch.py @@ -6,7 +6,6 @@ AppendEnvironmentVariable, SetEnvironmentVariable, DeclareLaunchArgument, - ExecuteProcess, IncludeLaunchDescription, OpaqueFunction, RegisterEventHandler, @@ -21,6 +20,7 @@ ) from launch_ros.actions import Node from launch_ros.substitutions import FindPackageShare +from launch.conditions import IfCondition # Function to select and load the appropriate controllers based on the given context and launch arguments @@ -153,7 +153,8 @@ def select_controller(context, *args, **kwargs): # Return the selected base and arm controllers for execution return [ base_controller_map[declared_base_controller] - , *arm_controller_map[declared_arm_controller]] + , *arm_controller_map[declared_arm_controller] + ] def generate_launch_description(): @@ -169,6 +170,9 @@ def generate_launch_description(): # Configuration to use simulation time (use by default) use_sim_time = LaunchConfiguration("use_sim_time", default=True) + # enable rviz + use_rviz = LaunchConfiguration("use_rviz", default=False) + # Declare the base controller argument with a default value of "velocity" declare_base_controller_type = DeclareLaunchArgument( "base_controller", @@ -266,7 +270,7 @@ def generate_launch_description(): "-topic", "robot_description", "-name", - "robot", + "eddie", "-allow_renaming", "true", ], @@ -278,7 +282,21 @@ def generate_launch_description(): name="rviz2", arguments=['-d', eddie_rviz_config_file], output="screen", - ) + condition=IfCondition(use_rviz), + ) + + # gazebo launch description + gz_launch_description = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(FindPackageShare("ros_gz_sim"), "launch", "gz_sim.launch.py") + ), + launch_arguments=[ + { + # "gz_args": f" -r -v 1 --physics-engine gz-physics-bullet-featherstone-plugin {world_file}" + "gz_args": f" -r -v 1 {world_file}" + } + ] + ) return LaunchDescription( [ @@ -286,27 +304,7 @@ def generate_launch_description(): declare_base_controller_type, declare_arm_controller_type, rviz2_node, - IncludeLaunchDescription( - PythonLaunchDescriptionSource( - [ - PathJoinSubstitution( - [ - FindPackageShare("ros_gz_sim"), - "launch", - "gz_sim.launch.py", - ] - ) - ] - ), - launch_arguments=[ - ( - "gz_args", - [ - f" -r -v 1 --physics-engine gz-physics-bullet-featherstone-plugin {world_file}" - ], - ) - ], - ), + gz_launch_description, RegisterEventHandler( event_handler=OnProcessExit( target_action=gz_spawn_entity, diff --git a/worlds/my_world.sdf b/worlds/my_world.sdf index ef5d820..e5d4828 100644 --- a/worlds/my_world.sdf +++ b/worlds/my_world.sdf @@ -1,6 +1,6 @@ - + 0.001 1.0 From e731ea52097665a4ea480aec4d9a88f6398cd4ed Mon Sep 17 00:00:00 2001 From: Vamsi Date: Sun, 24 Nov 2024 01:47:50 +0100 Subject: [PATCH 06/22] updated to be compatible with eddie description pkg --- config/eddie_controllers.yaml | 60 ++++++--------- launch/eddie_gazebo.launch.py | 69 +++++++++-------- setup.py | 10 +-- worlds/eddie_basic_world.sdf | 135 ++++++++++++++++++++++++++++++++++ worlds/empty.world | 46 ------------ worlds/my_world.sdf | 80 -------------------- 6 files changed, 197 insertions(+), 203 deletions(-) create mode 100644 worlds/eddie_basic_world.sdf delete mode 100644 worlds/empty.world delete mode 100644 worlds/my_world.sdf diff --git a/config/eddie_controllers.yaml b/config/eddie_controllers.yaml index 248e0ab..f80d458 100644 --- a/config/eddie_controllers.yaml +++ b/config/eddie_controllers.yaml @@ -117,14 +117,14 @@ arm_left_effort_controller: base_position_controller: ros__parameters: joints: - - eddie_front_left_drive_left_wheel_joint - - eddie_front_left_drive_right_wheel_joint - - eddie_front_right_drive_left_wheel_joint - - eddie_front_right_drive_right_wheel_joint - - eddie_rear_right_drive_left_wheel_joint - - eddie_rear_right_drive_right_wheel_joint - - eddie_rear_left_drive_left_wheel_joint - - eddie_rear_left_drive_right_wheel_joint + - eddie_front_left_drive_l_wheel_joint + - eddie_front_left_drive_r_wheel_joint + - eddie_front_right_drive_l_wheel_joint + - eddie_front_right_drive_r_wheel_joint + - eddie_rear_right_drive_l_wheel_joint + - eddie_rear_right_drive_r_wheel_joint + - eddie_rear_left_drive_l_wheel_joint + - eddie_rear_left_drive_r_wheel_joint # command_interfaces: # - position # state_interfaces: @@ -140,14 +140,14 @@ base_position_controller: base_velocity_controller: ros__parameters: joints: - - eddie_front_left_drive_left_wheel_joint - - eddie_front_left_drive_right_wheel_joint - - eddie_front_right_drive_left_wheel_joint - - eddie_front_right_drive_right_wheel_joint - - eddie_rear_right_drive_left_wheel_joint - - eddie_rear_right_drive_right_wheel_joint - - eddie_rear_left_drive_left_wheel_joint - - eddie_rear_left_drive_right_wheel_joint + - eddie_front_left_drive_l_wheel_joint + - eddie_front_left_drive_r_wheel_joint + - eddie_front_right_drive_l_wheel_joint + - eddie_front_right_drive_r_wheel_joint + - eddie_rear_right_drive_l_wheel_joint + - eddie_rear_right_drive_r_wheel_joint + - eddie_rear_left_drive_l_wheel_joint + - eddie_rear_left_drive_r_wheel_joint # command_interfaces: # - velocity # state_interfaces: @@ -163,14 +163,14 @@ base_velocity_controller: base_effort_controller: ros__parameters: joints: - - eddie_front_left_drive_left_wheel_joint - - eddie_front_left_drive_right_wheel_joint - - eddie_front_right_drive_left_wheel_joint - - eddie_front_right_drive_right_wheel_joint - - eddie_rear_right_drive_left_wheel_joint - - eddie_rear_right_drive_right_wheel_joint - - eddie_rear_left_drive_left_wheel_joint - - eddie_rear_left_drive_right_wheel_joint + - eddie_front_left_drive_l_wheel_joint + - eddie_front_left_drive_r_wheel_joint + - eddie_front_right_drive_l_wheel_joint + - eddie_front_right_drive_r_wheel_joint + - eddie_rear_right_drive_l_wheel_joint + - eddie_rear_right_drive_r_wheel_joint + - eddie_rear_left_drive_l_wheel_joint + - eddie_rear_left_drive_r_wheel_joint # command_interfaces: # - effort # state_interfaces: @@ -182,15 +182,3 @@ base_effort_controller: # constraints: # stopped_velocity_tolerance: 0.0 # goal_time: 0.0 - -base_wheel_unit_pivot_state: - ros__parameters: - joints: - - eddie_front_left_drive_struct_joint - - eddie_front_right_drive_struct_joint - - eddie_rear_left_drive_struct_joint - - eddie_rear_right_drive_struct_joint - # state_interfaces: - # - position - # - velocity - # state_publish_rate: 100.0 \ No newline at end of file diff --git a/launch/eddie_gazebo.launch.py b/launch/eddie_gazebo.launch.py index 38c305f..5da40d2 100644 --- a/launch/eddie_gazebo.launch.py +++ b/launch/eddie_gazebo.launch.py @@ -152,8 +152,8 @@ def select_controller(context, *args, **kwargs): else: # Return the selected base and arm controllers for execution return [ - base_controller_map[declared_base_controller] - , *arm_controller_map[declared_arm_controller] + base_controller_map[declared_base_controller], + *arm_controller_map[declared_arm_controller], ] @@ -184,7 +184,7 @@ def generate_launch_description(): eddie_rviz_config_file = os.path.join( get_package_share_directory("eddie_description"), "config/rviz", "eddie.rviz" ) - + # Declare the arm controller argument with a default value of "joint_trajectory" declare_arm_controller_type = DeclareLaunchArgument( "arm_controller", @@ -222,21 +222,7 @@ def generate_launch_description(): ) # World and robot files - world_file = os.path.join(pkg_eddie_gazebo, "worlds", "my_world.sdf") - - robot_description_content = Command( - [ - PathJoinSubstitution([FindExecutable(name="xacro")]), - " ", - PathJoinSubstitution( - [ - FindPackageShare("eddie_description"), - "urdf", - "eddie_robot.urdf.xacro", - ] - ), - ] - ) + world_file = os.path.join(pkg_eddie_gazebo, "worlds", "eddie_basic_world.sdf") load_joint_state_broadcaster = Node( package="controller_manager", @@ -251,14 +237,21 @@ def generate_launch_description(): output="screen", ) - # Parameters for the robot state publisher - robot_description_params = {"robot_description": robot_description_content} - - # Robot state publisher - node_robot_state_publisher = Node( - package="robot_state_publisher", - executable="robot_state_publisher", - parameters=[robot_description_params, {"use_sim_time": True}], + # load eddie + load_eddie_launch = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + [ + os.path.join( + get_package_share_directory("eddie_description"), + "launch", + "load_eddie.launch.py", + ) + ] + ), + launch_arguments={ + "use_ros2_control": "true", + "use_gz_sim": "true", + }.items(), ) # Spawn entity @@ -273,14 +266,20 @@ def generate_launch_description(): "eddie", "-allow_renaming", "true", + "-x", + "0", + "-y", + "0", + "-z", + "0.01", ], ) - + rviz2_node = Node( package="rviz2", executable="rviz2", name="rviz2", - arguments=['-d', eddie_rviz_config_file], + arguments=["-d", eddie_rviz_config_file], output="screen", condition=IfCondition(use_rviz), ) @@ -288,14 +287,12 @@ def generate_launch_description(): # gazebo launch description gz_launch_description = IncludeLaunchDescription( PythonLaunchDescriptionSource( - os.path.join(FindPackageShare("ros_gz_sim"), "launch", "gz_sim.launch.py") + [PathJoinSubstitution([FindPackageShare("ros_gz_sim"), "launch", "gz_sim.launch.py"])] ), - launch_arguments=[ - { - # "gz_args": f" -r -v 1 --physics-engine gz-physics-bullet-featherstone-plugin {world_file}" - "gz_args": f" -r -v 1 {world_file}" - } - ] + launch_arguments={ + # "gz_args": f" -r -v 1 --physics-engine gz-physics-bullet-featherstone-plugin {world_file}" + "gz_args": f" -r -v 1 {world_file}" + }.items(), ) return LaunchDescription( @@ -317,7 +314,7 @@ def generate_launch_description(): on_exit=[OpaqueFunction(function=select_controller)], ) ), - node_robot_state_publisher, + load_eddie_launch, gz_spawn_entity, DeclareLaunchArgument( "use_sim_time", diff --git a/setup.py b/setup.py index 1cf568f..e231cfc 100644 --- a/setup.py +++ b/setup.py @@ -6,7 +6,7 @@ setup( name=package_name, - version='0.0.0', + version='0.0.1', packages=find_packages(exclude=['test']), data_files=[ ('share/ament_index/resource_index/packages', @@ -20,10 +20,10 @@ ], install_requires=['setuptools'], zip_safe=True, - maintainer='shinas', - maintainer_email='shinasshaji12@outlook.com', - description='TODO: Package description', - license='TODO: License declaration', + maintainer='Vamsi Kalagaturu, Kishan Sawant', + maintainer_email='vamsikalagaturu@gmail.com, kishan.sawant@uni-bremen.de', + description='Gazebo simulation for eddie', + license='MIT', tests_require=['pytest'], entry_points={ 'console_scripts': [ diff --git a/worlds/eddie_basic_world.sdf b/worlds/eddie_basic_world.sdf new file mode 100644 index 0000000..979f0d2 --- /dev/null +++ b/worlds/eddie_basic_world.sdf @@ -0,0 +1,135 @@ + + + + + 0.001 + 1.0 + + 0 0 -9.81 + + + + + + + + + ogre2 + + + + + + true + 0 0 10 0 0 0 + 0.8 0.8 0.8 1 + 0.2 0.2 0.2 1 + + 1000 + 0.9 + 0.01 + 0.001 + + -0.5 0.1 -0.9 + + + + true + + + + + 0 0 1 + 100 100 + + + + + + 1 + + + + + + + + 0 0 1 + 100 100 + + + + 0.8 0.8 0.8 1 + 0.8 0.8 0.8 1 + 0.8 0.8 0.8 1 + + + + + + + 0 0 0.01 0 0 0 + + + 0.5 + + 0.0 + 0.0 + 0.0 + + + + + + 5 10 0.01 + + + + + 0.1 0.1 0.1 1 + 0.1 0.1 0.1 1 + 0.05 0.05 0.05 1 + + + + + + 5 10 0.01 + + + + + + + 0.6 + 0.6 + + + + 0.1 + + + false + 10 + + + + + + + + + true + + + \ No newline at end of file diff --git a/worlds/empty.world b/worlds/empty.world deleted file mode 100644 index 9e78d7b..0000000 --- a/worlds/empty.world +++ /dev/null @@ -1,46 +0,0 @@ - - - - - - - - - - - - - - - - - - 0.0 0.0 -9.8 - - - - - https://fuel.gazebosim.org/1.0/OpenRobotics/models/Sun - - - - - - - https://fuel.gazebosim.org/1.0/OpenRobotics/models/Ground Plane - - - - - - false - - - - \ No newline at end of file diff --git a/worlds/my_world.sdf b/worlds/my_world.sdf deleted file mode 100644 index e5d4828..0000000 --- a/worlds/my_world.sdf +++ /dev/null @@ -1,80 +0,0 @@ - - - - - 0.001 - 1.0 - - 0 0 -9.81 - - - - - - - - - ogre2 - - - - - - true - 0 0 10 0 0 0 - 0.8 0.8 0.8 1 - 0.2 0.2 0.2 1 - - 1000 - 0.9 - 0.01 - 0.001 - - -0.5 0.1 -0.9 - - - - true - - - - - 0 0 1 - 100 100 - - - - - - 1 - - - - - - - - 0 0 1 - 100 100 - - - - 0.8 0.8 0.8 1 - 0.8 0.8 0.8 1 - 0.8 0.8 0.8 1 - - - - - - From 4ca91c06f33c9ee3b5cfe22701c87c97932e4ffb Mon Sep 17 00:00:00 2001 From: Vamsi Date: Sun, 24 Nov 2024 15:45:05 +0100 Subject: [PATCH 07/22] added pre-commit hook and gh pages workflow --- .github/workflows/deploy-mkdocs.yml | 22 ++ .github/workflows/format_and_lint.yml | 35 +++ .pre-commit-config.yaml | 17 ++ config/eddie_controllers.yaml | 61 ++-- {doc => docs}/images/load.png | Bin {doc => docs}/images/namespace.png | Bin {doc => docs}/images/unload.png | Bin docs/index.md | 1 + docs/styles/extra.css | 6 + eddie_gazebo/arms_control.py | 138 +++++---- eddie_gazebo/control_publisher.py | 15 +- eddie_gazebo/eddie_control.py | 418 +++++++++++++++----------- launch/eddie_gazebo.launch.py | 8 +- mkdocs.yaml | 90 ++++++ setup.py | 56 ++-- 15 files changed, 561 insertions(+), 306 deletions(-) create mode 100644 .github/workflows/deploy-mkdocs.yml create mode 100644 .github/workflows/format_and_lint.yml create mode 100644 .pre-commit-config.yaml rename {doc => docs}/images/load.png (100%) rename {doc => docs}/images/namespace.png (100%) rename {doc => docs}/images/unload.png (100%) create mode 100644 docs/index.md create mode 100644 docs/styles/extra.css create mode 100644 mkdocs.yaml diff --git a/.github/workflows/deploy-mkdocs.yml b/.github/workflows/deploy-mkdocs.yml new file mode 100644 index 0000000..917f361 --- /dev/null +++ b/.github/workflows/deploy-mkdocs.yml @@ -0,0 +1,22 @@ +name: Publish docs with MkDocs via GitHub Pages +on: + push: + branches: + - main +jobs: + build: + name: Deploy docs + runs-on: ubuntu-latest + steps: + - name: Checkout + uses: actions/checkout@v4 + - name: Configure Git Credentials + run: | + git config user.name github-actions[bot] + git config user.email 41898282+github-actions[bot]@users.noreply.github.com + - name: Install dependencies + run: | + python -m pip install --upgrade pip + python -m pip install ".[docs]" + - name: Deploy MkDocs + run: mkdocs gh-deploy --force diff --git a/.github/workflows/format_and_lint.yml b/.github/workflows/format_and_lint.yml new file mode 100644 index 0000000..0ec8e91 --- /dev/null +++ b/.github/workflows/format_and_lint.yml @@ -0,0 +1,35 @@ +name: Formatting and Linting +on: + pull_request: + branches: + - main + push: + branches: + - main +jobs: + setup-build-lint: + runs-on: ubuntu-latest + strategy: + fail-fast: false + matrix: + python-version: ["3.10", "3.12", "3.13"] + steps: + - name: Checkout code + uses: actions/checkout@v4 + - name: Install python dependencies + run: | + python -m pip install --upgrade pip + pip install pre-commit + - uses: actions/cache@v4 + with: + path: ~/.cache/pre-commit + key: pre-commit-${{ runner.os }}-${{ hashFiles('**/.pre-commit-config.yaml') }} + restore-keys: | + pre-commit-${{ runner.os }}- + - name: Run pre-commit checks + working-directory: ws + run: | + pre-commit autoupdate --repo https://github.com/pre-commit/pre-commit-hooks + + # Run pre-commit checks + pre-commit run --show-diff-on-failure --color=always --all-files diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml new file mode 100644 index 0000000..a3ca0fc --- /dev/null +++ b/.pre-commit-config.yaml @@ -0,0 +1,17 @@ +repos: + - repo: https://github.com/pre-commit/pre-commit-hooks + rev: v5.0.0 + hooks: + - id: trailing-whitespace + - id: check-xml + - repo: https://github.com/astral-sh/ruff-pre-commit + rev: v0.7.4 + hooks: + - id: ruff + args: [--line-length=100, --fix] + - id: ruff-format + - repo: https://github.com/google/yamlfmt + rev: v0.10.0 + hooks: + - id: yamlfmt + args: ['-formatter', 'max_line_length=100'] diff --git a/config/eddie_controllers.yaml b/config/eddie_controllers.yaml index f80d458..1ee7183 100644 --- a/config/eddie_controllers.yaml +++ b/config/eddie_controllers.yaml @@ -1,31 +1,22 @@ controller_manager: ros__parameters: - update_rate: 1000 # Hz - + update_rate: 1000 # Hz joint_state_broadcaster: type: joint_state_broadcaster/JointStateBroadcaster - arm_right_joint_trajectory_controller: type: joint_trajectory_controller/JointTrajectoryController - arm_left_joint_trajectory_controller: type: joint_trajectory_controller/JointTrajectoryController - arm_right_effort_controller: type: effort_controllers/JointGroupEffortController - arm_left_effort_controller: type: effort_controllers/JointGroupEffortController - base_position_controller: type: position_controllers/JointGroupPositionController - base_velocity_controller: type: velocity_controllers/JointGroupVelocityController - base_effort_controller: type: effort_controllers/JointGroupEffortController - arm_left_joint_trajectory_controller: ros__parameters: joints: @@ -47,7 +38,6 @@ arm_left_joint_trajectory_controller: constraints: stopped_velocity_tolerance: 0.0 goal_time: 0.0 - arm_right_joint_trajectory_controller: ros__parameters: joints: @@ -69,7 +59,6 @@ arm_right_joint_trajectory_controller: constraints: stopped_velocity_tolerance: 0.0 goal_time: 0.0 - arm_right_effort_controller: ros__parameters: joints: @@ -91,7 +80,6 @@ arm_right_effort_controller: constraints: stopped_velocity_tolerance: 0.0 goal_time: 0.0 - arm_left_effort_controller: ros__parameters: joints: @@ -113,7 +101,6 @@ arm_left_effort_controller: constraints: stopped_velocity_tolerance: 0.0 goal_time: 0.0 - base_position_controller: ros__parameters: joints: @@ -125,18 +112,17 @@ base_position_controller: - eddie_rear_right_drive_r_wheel_joint - eddie_rear_left_drive_l_wheel_joint - eddie_rear_left_drive_r_wheel_joint - # command_interfaces: - # - position - # state_interfaces: - # - position - # - velocity - # state_publish_rate: 100.0 - # action_monitor_rate: 20.0 - # allow_partial_joints_goal: false - # constraints: - # stopped_velocity_tolerance: 0.0 - # goal_time: 0.0 - + # command_interfaces: + # - position + # state_interfaces: + # - position + # - velocity + # state_publish_rate: 100.0 + # action_monitor_rate: 20.0 + # allow_partial_joints_goal: false + # constraints: + # stopped_velocity_tolerance: 0.0 + # goal_time: 0.0 base_velocity_controller: ros__parameters: joints: @@ -148,18 +134,17 @@ base_velocity_controller: - eddie_rear_right_drive_r_wheel_joint - eddie_rear_left_drive_l_wheel_joint - eddie_rear_left_drive_r_wheel_joint - # command_interfaces: - # - velocity - # state_interfaces: - # - position - # - velocity - # state_publish_rate: 100.0 - # action_monitor_rate: 20.0 - # allow_partial_joints_goal: false - # constraints: - # stopped_velocity_tolerance: 0.0 - # goal_time: 0.0 - + # command_interfaces: + # - velocity + # state_interfaces: + # - position + # - velocity + # state_publish_rate: 100.0 + # action_monitor_rate: 20.0 + # allow_partial_joints_goal: false + # constraints: + # stopped_velocity_tolerance: 0.0 + # goal_time: 0.0 base_effort_controller: ros__parameters: joints: diff --git a/doc/images/load.png b/docs/images/load.png similarity index 100% rename from doc/images/load.png rename to docs/images/load.png diff --git a/doc/images/namespace.png b/docs/images/namespace.png similarity index 100% rename from doc/images/namespace.png rename to docs/images/namespace.png diff --git a/doc/images/unload.png b/docs/images/unload.png similarity index 100% rename from doc/images/unload.png rename to docs/images/unload.png diff --git a/docs/index.md b/docs/index.md new file mode 100644 index 0000000..d85e37b --- /dev/null +++ b/docs/index.md @@ -0,0 +1 @@ +# Eddie Gazebo Simulation diff --git a/docs/styles/extra.css b/docs/styles/extra.css new file mode 100644 index 0000000..cd8fdb6 --- /dev/null +++ b/docs/styles/extra.css @@ -0,0 +1,6 @@ +:root { + --md-primary-fg-color: #9d2246; + --md-primary-fg-color--light: #d50c2f; + --md-primary-fg-color--dark: #9d2246; + --md-accent-fg-color: #f39ca9; + } \ No newline at end of file diff --git a/eddie_gazebo/arms_control.py b/eddie_gazebo/arms_control.py index 966b952..c21fbf1 100755 --- a/eddie_gazebo/arms_control.py +++ b/eddie_gazebo/arms_control.py @@ -1,104 +1,130 @@ import rclpy -from rclpy.node import Node +from rclpy.node import Node from trajectory_msgs.msg import JointTrajectory, JointTrajectoryPoint from builtin_interfaces.msg import Duration -from std_msgs.msg import Header - - -arm_left_joints = [ "eddie_left_arm_joint_1", - "eddie_left_arm_joint_2", - "eddie_left_arm_joint_3", - "eddie_left_arm_joint_4", - "eddie_left_arm_joint_5", - "eddie_left_arm_joint_6", - "eddie_left_arm_joint_7"] - -arm_right_joints = [ "eddie_right_arm_joint_1", - "eddie_right_arm_joint_2", - "eddie_right_arm_joint_3", - "eddie_right_arm_joint_4", - "eddie_right_arm_joint_5", - "eddie_right_arm_joint_6", - "eddie_right_arm_joint_7"] +from std_msgs.msg import Header + + +arm_left_joints = [ + "eddie_left_arm_joint_1", + "eddie_left_arm_joint_2", + "eddie_left_arm_joint_3", + "eddie_left_arm_joint_4", + "eddie_left_arm_joint_5", + "eddie_left_arm_joint_6", + "eddie_left_arm_joint_7", +] + +arm_right_joints = [ + "eddie_right_arm_joint_1", + "eddie_right_arm_joint_2", + "eddie_right_arm_joint_3", + "eddie_right_arm_joint_4", + "eddie_right_arm_joint_5", + "eddie_right_arm_joint_6", + "eddie_right_arm_joint_7", +] + class ArmControllerPublisher(Node): - """This class executes a sample trajectory for a robotic arm - - """ + """This class executes a sample trajectory for a robotic arm""" + def __init__(self): - super().__init__('arms_control') - - self.arm_left_pose_publisher = self.create_publisher(JointTrajectory, '/arm_left_joint_trajectory_controller/joint_trajectory', 10) - self.arm_right_pose_publisher = self.create_publisher(JointTrajectory, '/arm_right_joint_trajectory_controller/joint_trajectory', 10) - + super().__init__("arms_control") + + self.arm_left_pose_publisher = self.create_publisher( + JointTrajectory, + "/arm_left_joint_trajectory_controller/joint_trajectory", + 10, + ) + self.arm_right_pose_publisher = self.create_publisher( + JointTrajectory, + "/arm_right_joint_trajectory_controller/joint_trajectory", + 10, + ) + self.timer_period = 3.0 self.timer = self.create_timer(self.timer_period, self.timer_callback) - + self.frame_id = "base_link" - + # Have not thought about this # Desired time from the trajectory start to arrive at the trajectory point. # Needs to be less than or equal to the self.timer_period above to allow # the robotic arm to smoothly transition between points. self.duration_sec = 2 self.duration_nanosec = 0.5 * 1e9 - + self.arm_positions = [] - self.arm_positions.append([-0.70, -2.05, 2.14, -2.44, -1.57, 0.00, 0.00]) # Left initial pos - self.arm_positions.append([0.70, -2.05, 0.90, 2.44, 1.57, 0.00, 0.00]) # Right intial pos - + self.arm_positions.append( + [-0.70, -2.05, 2.14, -2.44, -1.57, 0.00, 0.00] + ) # Left initial pos + self.arm_positions.append( + [0.70, -2.05, 0.90, 2.44, 1.57, 0.00, 0.00] + ) # Right intial pos + self.index = 0 - + def timer_callback(self): - """Set the goal pose for the robotic arm. - - """ + """Set the goal pose for the robotic arm.""" # Create new JointTrajectory messages msg_left_arm = JointTrajectory() - msg_left_arm.header = Header() - msg_left_arm.header.frame_id = self.frame_id + msg_left_arm.header = Header() + msg_left_arm.header.frame_id = self.frame_id msg_left_arm.joint_names = arm_left_joints msg_right_arm = JointTrajectory() - msg_right_arm.header = Header() - msg_right_arm.header.frame_id = self.frame_id + msg_right_arm.header = Header() + msg_right_arm.header.frame_id = self.frame_id msg_right_arm.joint_names = arm_right_joints - + point_arm_left = JointTrajectoryPoint() point_arm_right = JointTrajectoryPoint() - point_arm_left.positions = self.arm_positions[0] if (self.index % 2 == 0) else [0.3* i for i in range(1,8)] - point_arm_right.positions = self.arm_positions[1] if (self.index % 2 == 1) else [0.3* i for i in range(1,8)] + point_arm_left.positions = ( + self.arm_positions[0] + if (self.index % 2 == 0) + else [0.3 * i for i in range(1, 8)] + ) + point_arm_right.positions = ( + self.arm_positions[1] + if (self.index % 2 == 1) + else [0.3 * i for i in range(1, 8)] + ) - point_arm_left.time_from_start = Duration(sec=int(self.duration_sec), nanosec=int(self.duration_nanosec)) # Time to next position - point_arm_right.time_from_start = Duration(sec=int(self.duration_sec), nanosec=int(self.duration_nanosec)) # Time to next position + point_arm_left.time_from_start = Duration( + sec=int(self.duration_sec), nanosec=int(self.duration_nanosec) + ) # Time to next position + point_arm_right.time_from_start = Duration( + sec=int(self.duration_sec), nanosec=int(self.duration_nanosec) + ) # Time to next position msg_left_arm.points.append(point_arm_left) msg_right_arm.points.append(point_arm_right) self.arm_left_pose_publisher.publish(msg_left_arm) self.arm_right_pose_publisher.publish(msg_right_arm) - - + # Reset the index if self.index == 4: self.index = 0 else: self.index = self.index + 1 - + + def main(args=None): - # Initialize the rclpy library rclpy.init(args=args) - + # Create the node arms_controller = ArmControllerPublisher() - + rclpy.spin(arms_controller) - + # Destroy the node arms_controller.destroy_node() - + # Shutdown the ROS client library for Python rclpy.shutdown() - -if __name__ == '__main__': + + +if __name__ == "__main__": main() diff --git a/eddie_gazebo/control_publisher.py b/eddie_gazebo/control_publisher.py index 8e3e649..71fefb3 100644 --- a/eddie_gazebo/control_publisher.py +++ b/eddie_gazebo/control_publisher.py @@ -1,15 +1,14 @@ import rclpy from rclpy.node import Node from std_msgs.msg import Float64MultiArray -import numpy as np + class ControlPublisher(Node): def __init__(self): - super().__init__('control_publisher') - self.publisher_ = \ - self.create_publisher(Float64MultiArray, - '/base_velocity_controller/commands', - 10) + super().__init__("control_publisher") + self.publisher_ = self.create_publisher( + Float64MultiArray, "/base_velocity_controller/commands", 10 + ) self.timer_period = 1.0 # seconds self.timer = self.create_timer(self.timer_period, self.timer_callback) @@ -21,6 +20,7 @@ def timer_callback(self): self.publisher_.publish(msg) self.get_logger().info('Publishing: "%s"' % str(msg.data)) + def main(args=None): rclpy.init(args=args) control_publisher = ControlPublisher() @@ -28,5 +28,6 @@ def main(args=None): control_publisher.destroy_node() rclpy.shutdown() -if __name__ == '__main__': + +if __name__ == "__main__": main() diff --git a/eddie_gazebo/eddie_control.py b/eddie_gazebo/eddie_control.py index feadf2d..dd37c45 100644 --- a/eddie_gazebo/eddie_control.py +++ b/eddie_gazebo/eddie_control.py @@ -15,12 +15,12 @@ def clear_line(n=1): - ''' - Function for carriaged printing from + """ + Function for carriaged printing from https://itnext.io/overwrite-previously-printed-lines-4218a9563527 - ''' - LINE_UP = '\033[1A' - LINE_CLEAR = '\x1b[2K' + """ + LINE_UP = "\033[1A" + LINE_CLEAR = "\x1b[2K" for i in range(n): print(LINE_UP, end=LINE_CLEAR) @@ -28,53 +28,69 @@ def clear_line(n=1): class EddieGazeboPublisher(Node): """ This class is responsible for publishing commands to the robot's components. - + It loads configuration from YAML files, sets up publishers and subscribers, and updates the state of each component based on incoming commands. - + Parameters: verbose (bool): Whether to print debug messages or not """ - def __init__(self, - verbose=False) -> None: + + def __init__(self, verbose=False) -> None: """ Initializes the EddieGazeboPublisher instance - + Args: verbose (bool): Whether to print debug messages or not """ - super().__init__('EddieGazeboPublisher') + super().__init__("EddieGazeboPublisher") self.verbose = verbose # Declare controller parameters - self.declare_parameter('arm_controller', 'joint_trajectory_position') - self.declare_parameter('base_controller', 'velocity') + self.declare_parameter("arm_controller", "joint_trajectory_position") + self.declare_parameter("base_controller", "velocity") valid_controllers = { - 'arm': ['joint_trajectory_position', 'joint_trajectory_velocity', 'effort'], - 'base': ['position', 'velocity', 'effort'] + "arm": ["joint_trajectory_position", "joint_trajectory_velocity", "effort"], + "base": ["position", "velocity", "effort"], } # Timer for rolling state forward self.roll_forward_timer = self.create_timer(0.1, self.roll_state_forward) # Getting declared parameters - self.arm_controller: str = self.get_parameter('arm_controller').get_parameter_value().string_value - assert self.arm_controller in valid_controllers['arm'], f'Undefined arm_controller: {self.arm_controller}' - - self.base_controller: str = self.get_parameter('base_controller').get_parameter_value().string_value - assert self.base_controller in valid_controllers['base'], f'Undefined base_controller: {self.base_controller}' - - arm_controller_name = \ - {side: f'arm_{side}_joint_trajectory_controller' if 'joint_trajectory' in self.arm_controller \ - else f'arm_{side}_effort_controller' for side in ['left', 'right']} - base_controller_name = f'base_{self.base_controller}_controller' - - self.get_logger().info(f"Setting up command interface for selected arm controller: {arm_controller_name}") - self.get_logger().info(f"Setting up command interface for selected base controller: {base_controller_name}") - - with open('install/eddie_gazebo/share/eddie_gazebo/config/eddie_controllers.yaml') \ - as param_file: + self.arm_controller: str = ( + self.get_parameter("arm_controller").get_parameter_value().string_value + ) + assert ( + self.arm_controller in valid_controllers["arm"] + ), f"Undefined arm_controller: {self.arm_controller}" + + self.base_controller: str = ( + self.get_parameter("base_controller").get_parameter_value().string_value + ) + assert ( + self.base_controller in valid_controllers["base"] + ), f"Undefined base_controller: {self.base_controller}" + + arm_controller_name = { + side: f"arm_{side}_joint_trajectory_controller" + if "joint_trajectory" in self.arm_controller + else f"arm_{side}_effort_controller" + for side in ["left", "right"] + } + base_controller_name = f"base_{self.base_controller}_controller" + + self.get_logger().info( + f"Setting up command interface for selected arm controller: {arm_controller_name}" + ) + self.get_logger().info( + f"Setting up command interface for selected base controller: {base_controller_name}" + ) + + with open( + "install/eddie_gazebo/share/eddie_gazebo/config/eddie_controllers.yaml" + ) as param_file: controller_params = yaml.safe_load(param_file) self.trajectory_durations = { @@ -86,52 +102,68 @@ def __init__(self, self.components = { "arm_left": { "publisher": self.create_publisher( - JointTrajectory if "joint_trajectory" in self.arm_controller \ - else Float64MultiArray, - f'/{arm_controller_name["left"]}/' + \ - ("joint_trajectory" if "joint_trajectory" in self.arm_controller \ - else 'commands'), - 10, + JointTrajectory + if "joint_trajectory" in self.arm_controller + else Float64MultiArray, + f'/{arm_controller_name["left"]}/' + + ( + "joint_trajectory" + if "joint_trajectory" in self.arm_controller + else "commands" ), + 10, + ), "state": { "position": np.zeros(7), "velocity": np.zeros(7), "effort": np.zeros(7), - }, - "message": JointTrajectory() if "joint_trajectory" in self.arm_controller \ - else Float64MultiArray(), - "joints": controller_params[arm_controller_name["left"]]\ - ["ros__parameters"]["joints"], + }, + "message": JointTrajectory() + if "joint_trajectory" in self.arm_controller + else Float64MultiArray(), + "joints": controller_params[arm_controller_name["left"]][ + "ros__parameters" + ]["joints"], "frame_id": "base_link", - "trajectory_duration": self.trajectory_durations[self.arm_controller.split("_")[-1]], + "trajectory_duration": self.trajectory_durations[ + self.arm_controller.split("_")[-1] + ], }, "arm_right": { "publisher": self.create_publisher( - JointTrajectory if "joint_trajectory" in self.arm_controller \ - else Float64MultiArray, - f'/{arm_controller_name["right"]}/' + \ - ("joint_trajectory" if "joint_trajectory" in self.arm_controller \ - else 'commands'), - 10, + JointTrajectory + if "joint_trajectory" in self.arm_controller + else Float64MultiArray, + f'/{arm_controller_name["right"]}/' + + ( + "joint_trajectory" + if "joint_trajectory" in self.arm_controller + else "commands" ), + 10, + ), "state": { "position": np.zeros(7), "velocity": np.zeros(7), "effort": np.zeros(7), - }, - "message": JointTrajectory() if "joint_trajectory" in self.arm_controller \ - else Float64MultiArray(), - "joints": controller_params[arm_controller_name["right"]]\ - ["ros__parameters"]["joints"], + }, + "message": JointTrajectory() + if "joint_trajectory" in self.arm_controller + else Float64MultiArray(), + "joints": controller_params[arm_controller_name["right"]][ + "ros__parameters" + ]["joints"], "frame_id": "base_link", - "trajectory_duration": self.trajectory_durations[self.arm_controller.split("_")[-1]], + "trajectory_duration": self.trajectory_durations[ + self.arm_controller.split("_")[-1] + ], }, "base": { "publisher": self.create_publisher( - Float64MultiArray, - f'/{base_controller_name}/commands', + Float64MultiArray, + f"/{base_controller_name}/commands", 10, - ), + ), "state": np.zeros(8), "message": Float64MultiArray(), }, @@ -141,17 +173,23 @@ def __init__(self, for component_name in self.components: if "arm" in component_name: if "joint_trajectory" in self.arm_controller: - with open('install/eddie_description/share/eddie_description/'+\ - f'config/initial_positions_{component_name}.yaml') \ - as initial_position_file: + with open( + "install/eddie_description/share/eddie_description/" + + f"config/initial_positions_{component_name}.yaml" + ) as initial_position_file: initial_positions = yaml.safe_load(initial_position_file) - self.components[component_name]["state"]["position"] = np.array(\ - [initial_positions[f"joint_{index}"] for index in range(1, 8)] - ) + self.components[component_name]["state"]["position"] = np.array( + [ + initial_positions[f"joint_{index}"] + for index in range(1, 8) + ] + ) if self.verbose: - self.get_logger().info("Loaded keyboard control interface with the following components:") + self.get_logger().info( + "Loaded keyboard control interface with the following components:" + ) pprint(self.components) self.rollout_timing = { @@ -159,60 +197,69 @@ def __init__(self, "current": self.evaluate_time(self.get_clock().now()), } - def evaluate_time(self, time_object: rclpy.time.Time): - return time_object.seconds_nanoseconds()[0] + (time_object.seconds_nanoseconds()[1] * 1e-9) - - - def update_state(self, component_name: str, increment: np.ndarray, ) -> None: + return time_object.seconds_nanoseconds()[0] + ( + time_object.seconds_nanoseconds()[1] * 1e-9 + ) + + def update_state( + self, + component_name: str, + increment: np.ndarray, + ) -> None: """ Updates the state of a given component - + Args: component_name (str): Name of the component to update increment (np.ndarray): Increment to apply to the component's state """ # Since commands are of variable length, only take the required number of elements - if 'arm' in component_name: + if "arm" in component_name: if self.arm_controller.split("_")[-1] == "position": - self.components[component_name]["state"]["position"] += \ - increment[:len(self.components[component_name]["state"]["position"])] + self.components[component_name]["state"]["position"] += increment[ + : len(self.components[component_name]["state"]["position"]) + ] elif self.arm_controller.split("_")[-1] == "velocity": - self.components[component_name]["state"]["velocity"] += \ - increment[:len(self.components[component_name]["state"]["velocity"])] + self.components[component_name]["state"]["velocity"] += increment[ + : len(self.components[component_name]["state"]["velocity"]) + ] elif self.arm_controller == "effort": - self.components[component_name]["state"]["effort"] += \ - increment[:len(self.components[component_name]["state"]["effort"])] + self.components[component_name]["state"]["effort"] += increment[ + : len(self.components[component_name]["state"]["effort"]) + ] else: - self.components[component_name]["state"] += \ - increment[:len(self.components[component_name]["state"])] + self.components[component_name]["state"] += increment[ + : len(self.components[component_name]["state"]) + ] self.update_messages(component_name) return None - - def roll_state_forward(self, ) -> None: + def roll_state_forward( + self, + ) -> None: self.rollout_timing["current"] = self.evaluate_time(self.get_clock().now()) time_step = self.rollout_timing["current"] - self.rollout_timing["previous"] for component_name in self.components: if "arm" in component_name: if self.arm_controller.split("_")[-1] == "velocity": - self.components[component_name]["state"]["position"] += \ + self.components[component_name]["state"]["position"] += ( self.components[component_name]["state"]["velocity"] * time_step - + ) + # Add more state rollouts if required self.rollout_timing["previous"] = self.rollout_timing["current"] self.update_messages() self.publish_commands() - def update_messages(self, current_component=None) -> None: """ Updates the messages for all components - + Args: current_component (str): Optional name of the component for printing """ @@ -221,29 +268,34 @@ def update_messages(self, current_component=None) -> None: if "joint_trajectory" in self.arm_controller: msg = JointTrajectory() msg.header = Header() - msg.header.frame_id = self.components[component_name]["frame_id"] + msg.header.frame_id = self.components[component_name]["frame_id"] msg.joint_names = self.components[component_name]["joints"] trajectory_point = JointTrajectoryPoint() - trajectory_point.positions = \ - self.components[component_name]["state"]["position"].tolist() - - trajectory_point.time_from_start = \ - Duration( - sec=self.components[component_name]["trajectory_duration"][0], - nanosec=self.components[component_name]["trajectory_duration"][1], - ) - + trajectory_point.positions = self.components[component_name][ + "state" + ]["position"].tolist() + + trajectory_point.time_from_start = Duration( + sec=self.components[component_name]["trajectory_duration"][0], + nanosec=self.components[component_name]["trajectory_duration"][ + 1 + ], + ) + if self.arm_controller.split("_")[-1] == "velocity": - trajectory_point.velocities = \ - self.components[component_name]["state"]["velocity"].tolist() + trajectory_point.velocities = self.components[component_name][ + "state" + ]["velocity"].tolist() msg.points.append(trajectory_point) self.components[component_name]["message"] = msg - elif self.arm_controller == 'effort': + elif self.arm_controller == "effort": msg = Float64MultiArray() - msg.data = self.components[component_name]["state"]["effort"].tolist() + msg.data = self.components[component_name]["state"][ + "effort" + ].tolist() self.components[component_name]["message"] = msg @@ -257,19 +309,33 @@ def update_messages(self, current_component=None) -> None: if current_component is not None: clear_line() if "arm" in current_component: - print(f"Updated state of {current_component} to: ", \ - np.array(self.components[current_component]["state"][self.arm_controller.split("_")[-1]])) + print( + f"Updated state of {current_component} to: ", + np.array( + self.components[current_component]["state"][ + self.arm_controller.split("_")[-1] + ] + ), + ) else: - print(f"Updated state of {current_component} to: ", \ - np.array(self.components[current_component]["state"])) + print( + f"Updated state of {current_component} to: ", + np.array(self.components[current_component]["state"]), + ) elif self.verbose: - print(f"Updated states to: ", \ - [np.array(self.components[component]["state"]) for component in self.components]) + print( + "Updated states to: ", + [ + np.array(self.components[component]["state"]) + for component in self.components + ], + ) return None - - def publish_commands(self, ) -> None: + def publish_commands( + self, + ) -> None: """ Publishes commands for all components """ @@ -277,121 +343,113 @@ def publish_commands(self, ) -> None: # print(self.components[component_name]["message"]) self.components[component_name]["publisher"].publish( self.components[component_name]["message"] - ) + ) return None - -class KeyboardPress(): - +class KeyboardPress: def __init__(self): - - self.key_bindings={ - 'w': (1, 0, 0, 0, 0, 0, 0, 0), - 's': (-1, 0, 0, 0, 0, 0, 0, 0), - 'e': (0, 1, 0, 0, 0, 0, 0, 0), - 'd': (0, -1, 0, 0, 0, 0, 0, 0), - 'r': (0, 0, 1, 0, 0, 0, 0, 0), - 'f': (0, 0, -1, 0, 0, 0, 0, 0), - 't': (0, 0, 0, 1, 0, 0, 0, 0), - 'g': (0, 0, 0, -1, 0, 0, 0, 0), - 'y': (0, 0, 0, 0, 1, 0, 0, 0), - 'h': (0, 0, 0, 0, -1, 0, 0, 0), - 'u': (0, 0, 0, 0, 0, 1, 0, 0), - 'j': (0, 0, 0, 0, 0, -1, 0, 0), - 'i': (0, 0, 0, 0, 0, 0, 1, 0), - 'k': (0, 0, 0, 0, 0, 0, -1, 0), - 'o': (0, 0, 0, 0, 0, 0, 0, 1), - 'l': (0, 0, 0, 0, 0, 0, 0, -1), + self.key_bindings = { + "w": (1, 0, 0, 0, 0, 0, 0, 0), + "s": (-1, 0, 0, 0, 0, 0, 0, 0), + "e": (0, 1, 0, 0, 0, 0, 0, 0), + "d": (0, -1, 0, 0, 0, 0, 0, 0), + "r": (0, 0, 1, 0, 0, 0, 0, 0), + "f": (0, 0, -1, 0, 0, 0, 0, 0), + "t": (0, 0, 0, 1, 0, 0, 0, 0), + "g": (0, 0, 0, -1, 0, 0, 0, 0), + "y": (0, 0, 0, 0, 1, 0, 0, 0), + "h": (0, 0, 0, 0, -1, 0, 0, 0), + "u": (0, 0, 0, 0, 0, 1, 0, 0), + "j": (0, 0, 0, 0, 0, -1, 0, 0), + "i": (0, 0, 0, 0, 0, 0, 1, 0), + "k": (0, 0, 0, 0, 0, 0, -1, 0), + "o": (0, 0, 0, 0, 0, 0, 0, 1), + "l": (0, 0, 0, 0, 0, 0, 0, -1), } - self.speed_bindings={ - '+': (1.05, 1.1), - '-': (.95, .9) - } - self.component_bindings={ - 'q': 'arm_left', # Left arm - 'a': 'arm_right', # Right arm - 'z': 'base' # Base + self.speed_bindings = {"+": (1.05, 1.1), "-": (0.95, 0.9)} + self.component_bindings = { + "q": "arm_left", # Left arm + "a": "arm_right", # Right arm + "z": "base", # Base } self.default_speed = 0.1 self.speed = 0.1 - self.intro_message = ''.join([ - '\n', - 'Keyboard interface for commanding the Eddie robot in simulation\n', - '\n', - 'Increment state using w e r t y u i o\n', - ' ↑ ↑ ↑ ↑ ↑ ↑ ↑ ↑\n', - ' Joint 1 2 3 4 5 6 7 8\n', - ' ↓ ↓ ↓ ↓ ↓ ↓ ↓ ↓\n', - 'Decrement state using s d f g h j k l\n', - '\n', - 'Increment state increment step using +\n', - ' ↑\n', - ' ↓\n', - 'Decrement state decrement step using -\n', - '\n', - 'Choose robot component to command using\n', - ' q : arm_left\n' - ' a : arm_right\n' - ' z : base\n' - '\n' - ]) + self.intro_message = "".join( + [ + "\n", + "Keyboard interface for commanding the Eddie robot in simulation\n", + "\n", + "Increment state using w e r t y u i o\n", + " ↑ ↑ ↑ ↑ ↑ ↑ ↑ ↑\n", + " Joint 1 2 3 4 5 6 7 8\n", + " ↓ ↓ ↓ ↓ ↓ ↓ ↓ ↓\n", + "Decrement state using s d f g h j k l\n", + "\n", + "Increment state increment step using +\n", + " ↑\n", + " ↓\n", + "Decrement state decrement step using -\n", + "\n", + "Choose robot component to command using\n", + " q : arm_left\n" + " a : arm_right\n" + " z : base\n" + "\n", + ] + ) print(self.intro_message) - def getKey(self,settings): - + def getKey(self, settings): tty.setraw(sys.stdin.fileno()) # sys.stdin.read() returns a string on Linux key = sys.stdin.read(1) termios.tcsetattr(sys.stdin, termios.TCSADRAIN, settings) return key - def modifyPosition(self, key, component) -> np.ndarray: - # key = self.getKey(termios.tcgetattr(sys.stdin)) if key in self.key_bindings.keys(): moveBy: np.ndarray = np.array(self.key_bindings[key]) elif key in self.speed_bindings.keys(): - self.speed *= self.speed_bindings[key][1 if component == 'base' else 0] - + self.speed *= self.speed_bindings[key][1 if component == "base" else 0] + clear_line() - print(f'Updated increment step for {component} to {self.speed}') + print(f"Updated increment step for {component} to {self.speed}") return [] - elif key == '\x03': + elif key == "\x03": return None - + else: return [] - + increment: np.ndarray = moveBy * self.speed return increment - - def checkComponent(self,key): + + def checkComponent(self, key): if key in self.component_bindings.keys(): self.speed = self.default_speed clear_line() - print(f'Switched to component {self.component_bindings[key]}') + print(f"Switched to component {self.component_bindings[key]}") return self.component_bindings[key] return [] - def main(args=None): rclpy.init(args=args) eddie_gazebo_publisher = EddieGazeboPublisher() keyboard_press = KeyboardPress() - component = 'arm_left' # by default component = base - + component = "arm_left" # by default component = base + spinner = threading.Thread(target=rclpy.spin, args=(eddie_gazebo_publisher,)) spinner.start() @@ -404,10 +462,10 @@ def main(args=None): component = component_check continue - increment = keyboard_press.modifyPosition(key,component) + increment = keyboard_press.modifyPosition(key, component) # if component == []: - # raise Exception('Key does not correspond to any component, + # raise Exception('Key does not correspond to any component, # press \'q\': Left arm, \'a\': Right arm, \'z\': Base') # Update commands @@ -421,7 +479,7 @@ def main(args=None): # Publish messages eddie_gazebo_publisher.roll_state_forward() eddie_gazebo_publisher.publish_commands() - + # except Exception as e: # print(e) @@ -430,7 +488,5 @@ def main(args=None): spinner.join() - -if __name__ == '__main__': +if __name__ == "__main__": main() - diff --git a/launch/eddie_gazebo.launch.py b/launch/eddie_gazebo.launch.py index 5da40d2..71df98f 100644 --- a/launch/eddie_gazebo.launch.py +++ b/launch/eddie_gazebo.launch.py @@ -13,8 +13,6 @@ from launch.event_handlers import OnProcessExit from launch.launch_description_sources import PythonLaunchDescriptionSource from launch.substitutions import ( - Command, - FindExecutable, LaunchConfiguration, PathJoinSubstitution, ) @@ -287,7 +285,11 @@ def generate_launch_description(): # gazebo launch description gz_launch_description = IncludeLaunchDescription( PythonLaunchDescriptionSource( - [PathJoinSubstitution([FindPackageShare("ros_gz_sim"), "launch", "gz_sim.launch.py"])] + [ + PathJoinSubstitution( + [FindPackageShare("ros_gz_sim"), "launch", "gz_sim.launch.py"] + ) + ] ), launch_arguments={ # "gz_args": f" -r -v 1 --physics-engine gz-physics-bullet-featherstone-plugin {world_file}" diff --git a/mkdocs.yaml b/mkdocs.yaml new file mode 100644 index 0000000..f987e89 --- /dev/null +++ b/mkdocs.yaml @@ -0,0 +1,90 @@ +site_name: Eddie gazebo documentation +site_url: https://secorolab.github.io/eddie_gazebo/ +repo_url: https://github.com/secorolab/eddie_gazebo +repo_name: secorolab/eddie_gazebo +theme: + # logo: assets/logo.png + icon: + repo: fontawesome/brands/github + name: material + palette: + # Palette toggle for automatic mode + - media: (prefers-color-scheme) + primary: custom + accent: custom + toggle: + icon: material/brightness-auto + name: Switch to light mode + # Palette toggle for light mode + - media: '(prefers-color-scheme: light)' + scheme: default + primary: custom + accent: custom + toggle: + icon: material/brightness-7 + name: Switch to dark mode + # Palette toggle for dark mode + - media: '(prefers-color-scheme: dark)' + scheme: slate + primary: custom + accent: custom + toggle: + icon: material/brightness-4 + name: Switch to system preference + features: + - header.autohide + - toc.follow + - toc.integrate + - navigation.tracking + - navigation.instant.preview + - navigation.expand + - navigation.top + - navigation.footer + - search.suggest + - search.highlight + - search.share + - content.code.copy + - content.code.select + - content.tooltips +markdown_extensions: + - abbr + - admonition + - attr_list + - def_list + - footnotes + - md_in_html + - pymdownx.highlight: + anchor_linenums: true + line_spans: __span + pygments_lang_class: true + - pymdownx.inlinehilite + - pymdownx.snippets + - pymdownx.details + - pymdownx.superfences: + custom_fences: + - name: mermaid + class: mermaid + format: pymdownx.superfences.fence_code_format + - pymdownx.tasklist: + custom_checkbox: true + - pymdownx.arithmatex: + generic: true + - tables + - toc: + permalink: true +plugins: + - search + - awesome-pages +extra_css: + - styles/extra.css +extra: + social: + - icon: fontawesome/brands/github + link: https://github.com/secorolab + - icon: material/web + link: https://www.uni-bremen.de/secoro + # extra_javascript: # Add MathJax support if required + # - javascripts/mathjax.js + # - https://unpkg.com/mathjax@3/es5/tex-mml-chtml.js +copyright: Copyright © 2024 SECORO Group +use_directory_urls: false diff --git a/setup.py b/setup.py index e231cfc..5ec22f3 100644 --- a/setup.py +++ b/setup.py @@ -2,34 +2,48 @@ import os import glob -package_name = 'eddie_gazebo' +package_name = "eddie_gazebo" setup( name=package_name, - version='0.0.1', - packages=find_packages(exclude=['test']), + version="0.0.1", + packages=find_packages(exclude=["test"]), data_files=[ - ('share/ament_index/resource_index/packages', - ['resource/' + package_name]), - ('share/' + package_name, ['package.xml']), - (os.path.join('share', package_name, 'launch'), glob.glob(os.path.join('launch', '*launch.py'))), - (os.path.join('share', package_name, 'worlds'), glob.glob(os.path.join('worlds', '*.sdf'))), - (os.path.join('share', package_name, 'config'), glob.glob(os.path.join('config', '*.yaml'))), - (os.path.join('share', package_name, 'urdf'), glob.glob(os.path.join('urdf', '*.urdf'))), - (os.path.join('share', package_name, 'scripts'), glob.glob(os.path.join('scripts', '*.py'))), + ("share/ament_index/resource_index/packages", ["resource/" + package_name]), + ("share/" + package_name, ["package.xml"]), + ( + os.path.join("share", package_name, "launch"), + glob.glob(os.path.join("launch", "*launch.py")), + ), + ( + os.path.join("share", package_name, "worlds"), + glob.glob(os.path.join("worlds", "*.sdf")), + ), + ( + os.path.join("share", package_name, "config"), + glob.glob(os.path.join("config", "*.yaml")), + ), + ( + os.path.join("share", package_name, "urdf"), + glob.glob(os.path.join("urdf", "*.urdf")), + ), + ( + os.path.join("share", package_name, "scripts"), + glob.glob(os.path.join("scripts", "*.py")), + ), ], - install_requires=['setuptools'], + install_requires=["setuptools"], zip_safe=True, - maintainer='Vamsi Kalagaturu, Kishan Sawant', - maintainer_email='vamsikalagaturu@gmail.com, kishan.sawant@uni-bremen.de', - description='Gazebo simulation for eddie', - license='MIT', - tests_require=['pytest'], + maintainer="Vamsi Kalagaturu, Kishan Sawant", + maintainer_email="vamsikalagaturu@gmail.com, kishan.sawant@uni-bremen.de", + description="Gazebo simulation for eddie", + license="MIT", + tests_require=["pytest"], entry_points={ - 'console_scripts': [ - f'control_publisher = {package_name}.control_publisher:main', - f'arms_control = {package_name}.arms_control:main', - f'eddie_control = {package_name}.eddie_control:main', + "console_scripts": [ + f"control_publisher = {package_name}.control_publisher:main", + f"arms_control = {package_name}.arms_control:main", + f"eddie_control = {package_name}.eddie_control:main", ], }, ) From b24f7f2c2343a576e7c2369c96d1f3969522d7c6 Mon Sep 17 00:00:00 2001 From: Vamsi Date: Sun, 24 Nov 2024 19:14:14 +0100 Subject: [PATCH 08/22] refactor launch files for Eddie robot simulation and update README instructions --- .gitignore | 2 + README.md | 12 +- launch/load_gazebo.launch.py | 141 ++++++++++++++++++ ...aunch.py => load_gz_controllers.launch.py} | 136 +---------------- launch/run_sim.launch.py | 44 ++++++ 5 files changed, 196 insertions(+), 139 deletions(-) create mode 100644 launch/load_gazebo.launch.py rename launch/{eddie_gazebo.launch.py => load_gz_controllers.launch.py} (58%) create mode 100644 launch/run_sim.launch.py diff --git a/.gitignore b/.gitignore index 0435963..eb5b93d 100644 --- a/.gitignore +++ b/.gitignore @@ -7,4 +7,6 @@ log/ __pycache__/ *.pyc +.ruff_cache + venv/ diff --git a/README.md b/README.md index 1b79073..1b79b96 100644 --- a/README.md +++ b/README.md @@ -110,7 +110,7 @@ sudo docker run -it --rm --runtime=nvidia --gpus all \ ### Launch the simulation ```bash -ros2 launch eddie_gazebo eddie_gazebo.launch.py +ros2 launch eddie_gazebo run_sim.launch.py ``` - To move the base using `Teleop`, select the `Teleop` from the `Tools` menu in the Gazebo GUI. @@ -120,13 +120,13 @@ ros2 launch eddie_gazebo eddie_gazebo.launch.py 1. By default, the `base_controller` for controlling the mobile base is a velocity controller and the `arm_controller` for controlling the Kinova arms is a `trajectory_controller`. You can customize the base_controller and arm_controller by providing launch arguments, for example: - + 2. The `joint_trajectory` controller can accept position as well as velocity commands. @@ -198,13 +198,13 @@ ros2 run rqt_controller_manager rqt_controller_manager --force-discover ``` In the UI, if controller_manager is not already selected, choose it from the dropdown menu. ![Select -the namespace(controller_manager)](/doc/images/namespace.png) +the namespace(controller_manager)](docs/images/namespace.png) To unload a controller, right-click on the desired controller and select "De-activate and Unload". -![Unload the controller for left arm/right arm/base](/doc/images/unload.png) +![Unload the controller for left arm/right arm/base](docs/images/unload.png) To load the desired controller, right-click on it and select 'Load, Configure and activate'. ![Load -the controller for left arm/right arm/base](/doc/images/load.png) +the controller for left arm/right arm/base](docs/images/load.png) ### Note diff --git a/launch/load_gazebo.launch.py b/launch/load_gazebo.launch.py new file mode 100644 index 0000000..7705132 --- /dev/null +++ b/launch/load_gazebo.launch.py @@ -0,0 +1,141 @@ +import os +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +from launch.actions import ( + AppendEnvironmentVariable, + SetEnvironmentVariable, + IncludeLaunchDescription, +) +from launch.launch_description_sources import PythonLaunchDescriptionSource +from launch.substitutions import ( + LaunchConfiguration, + PathJoinSubstitution, +) +from launch_ros.actions import Node +from launch_ros.substitutions import FindPackageShare +from launch.conditions import IfCondition + + +def generate_launch_description(): + """Generates the launch description for the Eddie robot gazebo simulation. + + This function sets up the environment variables, launches the Gazebo simulation. + + Returns: + LaunchDescription: The launch description for the Eddie robot simulation. + """ + # Configuration to use simulation time (use by default) + use_sim_time = LaunchConfiguration("use_sim_time", default=True) + + # enable rviz + use_rviz = LaunchConfiguration("use_rviz", default=False) + + # Declare path of rviz configuration file + eddie_rviz_config_file = os.path.join( + get_package_share_directory("eddie_description"), "config/rviz", "eddie.rviz" + ) + + # Get package directories + pkg_eddie_gazebo = get_package_share_directory("eddie_gazebo") + pkg_eddie_share_description = get_package_share_directory("eddie_description") + pkg_robotiq_share_description = get_package_share_directory("robotiq_description") + + # Resource paths to be added to the GZ_SIM_RESOURCE_PATH environment variable + resource_paths = [ + os.path.join(pkg_eddie_share_description, ".."), + os.path.join(pkg_robotiq_share_description, ".."), + ] + resource_paths_str = ":".join(resource_paths) + + gz_reource_env_var = "GZ_SIM_RESOURCE_PATH" + + # check if the environment variable is already set + if gz_reource_env_var in os.environ: + resource_paths_str = os.environ[gz_reource_env_var] + ":" + resource_paths_str + + # append the new path to the existing path + set_env_vars_resources = AppendEnvironmentVariable( + name=gz_reource_env_var, value=resource_paths_str + ) + + else: + # set the new path + set_env_vars_resources = SetEnvironmentVariable( + name=gz_reource_env_var, value=resource_paths_str + ) + + # World and robot files + world_file = os.path.join(pkg_eddie_gazebo, "worlds", "eddie_basic_world.sdf") + + # load eddie + load_eddie_launch = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + [ + os.path.join( + get_package_share_directory("eddie_description"), + "launch", + "load_eddie.launch.py", + ) + ] + ), + launch_arguments={ + "use_ros2_control": "true", + "use_gz_sim": "true", + "use_sim_time": use_sim_time, + }.items(), + ) + + # Spawn entity + gz_spawn_entity = Node( + package="ros_gz_sim", + executable="create", + output="screen", + arguments=[ + "-topic", + "robot_description", + "-name", + "eddie", + "-allow_renaming", + "true", + "-x", + "0", + "-y", + "0", + "-z", + "0.01", + ], + ) + + rviz2_node = Node( + package="rviz2", + executable="rviz2", + name="rviz2", + arguments=["-d", eddie_rviz_config_file], + output="screen", + condition=IfCondition(use_rviz), + ) + + # gazebo launch description + gz_launch_description = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + [ + PathJoinSubstitution( + [FindPackageShare("ros_gz_sim"), "launch", "gz_sim.launch.py"] + ) + ] + ), + launch_arguments={ + # "gz_args": f" -r -v 1 --physics-engine gz-physics-bullet-featherstone-plugin {world_file}" + "gz_args": f" -r -v 1 {world_file}" + }.items(), + ) + + return LaunchDescription( + [ + set_env_vars_resources, + rviz2_node, + gz_launch_description, + load_eddie_launch, + gz_spawn_entity, + ] + ) diff --git a/launch/eddie_gazebo.launch.py b/launch/load_gz_controllers.launch.py similarity index 58% rename from launch/eddie_gazebo.launch.py rename to launch/load_gz_controllers.launch.py index 71df98f..7c9adae 100644 --- a/launch/eddie_gazebo.launch.py +++ b/launch/load_gz_controllers.launch.py @@ -1,24 +1,14 @@ -import os - -from ament_index_python.packages import get_package_share_directory from launch import LaunchDescription from launch.actions import ( - AppendEnvironmentVariable, - SetEnvironmentVariable, DeclareLaunchArgument, - IncludeLaunchDescription, OpaqueFunction, RegisterEventHandler, ) from launch.event_handlers import OnProcessExit -from launch.launch_description_sources import PythonLaunchDescriptionSource from launch.substitutions import ( LaunchConfiguration, - PathJoinSubstitution, ) from launch_ros.actions import Node -from launch_ros.substitutions import FindPackageShare -from launch.conditions import IfCondition # Function to select and load the appropriate controllers based on the given context and launch arguments @@ -156,20 +146,14 @@ def select_controller(context, *args, **kwargs): def generate_launch_description(): - """Generates the launch description for the Eddie robot simulation. + """Generates the launch description for the Eddie robot controllers for the Gazebo simulation. This function sets up the environment variables, declares the base and arm controllers, - launches the Gazebo simulation, loads the selected controllers or default controllers, - and starts the robot state publisher. + loads the selected controllers or default controllers. Returns: LaunchDescription: The launch description for the Eddie robot simulation. """ - # Configuration to use simulation time (use by default) - use_sim_time = LaunchConfiguration("use_sim_time", default=True) - - # enable rviz - use_rviz = LaunchConfiguration("use_rviz", default=False) # Declare the base controller argument with a default value of "velocity" declare_base_controller_type = DeclareLaunchArgument( @@ -178,11 +162,6 @@ def generate_launch_description(): description="Specify controller for base (position, velocity, effort) (default: velocity)", ) - # Declare path of rviz configuration file - eddie_rviz_config_file = os.path.join( - get_package_share_directory("eddie_description"), "config/rviz", "eddie.rviz" - ) - # Declare the arm controller argument with a default value of "joint_trajectory" declare_arm_controller_type = DeclareLaunchArgument( "arm_controller", @@ -190,38 +169,6 @@ def generate_launch_description(): description="Specify controller for arm (joint_trajectory, effort) (default: joint_trajectory)", ) - # Get package directories - pkg_eddie_gazebo = get_package_share_directory("eddie_gazebo") - pkg_eddie_share_description = get_package_share_directory("eddie_description") - pkg_robotiq_share_description = get_package_share_directory("robotiq_description") - - # Resource paths to be added to the GZ_SIM_RESOURCE_PATH environment variable - resource_paths = [ - os.path.join(pkg_eddie_share_description, ".."), - os.path.join(pkg_robotiq_share_description, ".."), - ] - resource_paths_str = ":".join(resource_paths) - - gz_reource_env_var = "GZ_SIM_RESOURCE_PATH" - - # check if the environment variable is already set - if gz_reource_env_var in os.environ: - resource_paths_str = os.environ[gz_reource_env_var] + ":" + resource_paths_str - - # append the new path to the existing path - set_env_vars_resources = AppendEnvironmentVariable( - name=gz_reource_env_var, value=resource_paths_str - ) - - else: - # set the new path - set_env_vars_resources = SetEnvironmentVariable( - name=gz_reource_env_var, value=resource_paths_str - ) - - # World and robot files - world_file = os.path.join(pkg_eddie_gazebo, "worlds", "eddie_basic_world.sdf") - load_joint_state_broadcaster = Node( package="controller_manager", executable="spawner", @@ -235,93 +182,16 @@ def generate_launch_description(): output="screen", ) - # load eddie - load_eddie_launch = IncludeLaunchDescription( - PythonLaunchDescriptionSource( - [ - os.path.join( - get_package_share_directory("eddie_description"), - "launch", - "load_eddie.launch.py", - ) - ] - ), - launch_arguments={ - "use_ros2_control": "true", - "use_gz_sim": "true", - }.items(), - ) - - # Spawn entity - gz_spawn_entity = Node( - package="ros_gz_sim", - executable="create", - output="screen", - arguments=[ - "-topic", - "robot_description", - "-name", - "eddie", - "-allow_renaming", - "true", - "-x", - "0", - "-y", - "0", - "-z", - "0.01", - ], - ) - - rviz2_node = Node( - package="rviz2", - executable="rviz2", - name="rviz2", - arguments=["-d", eddie_rviz_config_file], - output="screen", - condition=IfCondition(use_rviz), - ) - - # gazebo launch description - gz_launch_description = IncludeLaunchDescription( - PythonLaunchDescriptionSource( - [ - PathJoinSubstitution( - [FindPackageShare("ros_gz_sim"), "launch", "gz_sim.launch.py"] - ) - ] - ), - launch_arguments={ - # "gz_args": f" -r -v 1 --physics-engine gz-physics-bullet-featherstone-plugin {world_file}" - "gz_args": f" -r -v 1 {world_file}" - }.items(), - ) - return LaunchDescription( [ - set_env_vars_resources, declare_base_controller_type, declare_arm_controller_type, - rviz2_node, - gz_launch_description, - RegisterEventHandler( - event_handler=OnProcessExit( - target_action=gz_spawn_entity, - on_exit=[load_joint_state_broadcaster], - ) - ), + load_joint_state_broadcaster, RegisterEventHandler( event_handler=OnProcessExit( target_action=load_joint_state_broadcaster, on_exit=[OpaqueFunction(function=select_controller)], ) ), - load_eddie_launch, - gz_spawn_entity, - DeclareLaunchArgument( - "use_sim_time", - default_value=use_sim_time, - description="If true, use simulated clock", - ), ] ) diff --git a/launch/run_sim.launch.py b/launch/run_sim.launch.py new file mode 100644 index 0000000..08bec92 --- /dev/null +++ b/launch/run_sim.launch.py @@ -0,0 +1,44 @@ +import os +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +from launch.actions import IncludeLaunchDescription +from launch.launch_description_sources import PythonLaunchDescriptionSource + + +def generate_launch_description(): + """Generates the launch description for the Eddie robot simulation. + + This function loads the Gazebo simulation and the Gazebo controllers. + + Returns: + LaunchDescription: The launch description for the Eddie robot simulation. + """ + + # Get package directories + pkg_eddie_share_description = get_package_share_directory("eddie_gazebo") + + load_eddie_gazebo_launch = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + [ + os.path.join( + pkg_eddie_share_description, + "launch", + "load_gazebo.launch.py", + ) + ] + ) + ) + + load_gz_controllers_launch = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + [ + os.path.join( + pkg_eddie_share_description, + "launch", + "load_gz_controllers.launch.py", + ) + ] + ) + ) + + return LaunchDescription([load_eddie_gazebo_launch, load_gz_controllers_launch]) From 885810ce7c17380d57efc373459c0eef30114e4e Mon Sep 17 00:00:00 2001 From: Kishan Sawant Date: Mon, 25 Nov 2024 11:48:34 +0100 Subject: [PATCH 09/22] add use_kelo_tulip arg, include gz_bridge --- config/gz_ros_bridge.yaml | 20 ++++++++++++++++++++ launch/load_gazebo.launch.py | 28 ++++++++++++++++++++++++++++ launch/run_sim.launch.py | 24 +++++++++++++++++++++--- 3 files changed, 69 insertions(+), 3 deletions(-) create mode 100644 config/gz_ros_bridge.yaml diff --git a/config/gz_ros_bridge.yaml b/config/gz_ros_bridge.yaml new file mode 100644 index 0000000..2886d8f --- /dev/null +++ b/config/gz_ros_bridge.yaml @@ -0,0 +1,20 @@ +# Full set of configurations + +- ros_topic_name: "/clock" + gz_topic_name: "/world/eddie_world/clock" + ros_type_name: "rosgraph_msgs/msg/Clock" + gz_type_name: "gz.msgs.Clock" + direction: GZ_TO_ROS + +- ros_topic_name: "cmd_vel" + gz_topic_name: "/model/eddie/cmd_vel" + ros_type_name: "geometry_msgs/msg/Twist" + gz_type_name: "gz.msgs.Twist" + direction: ROS_TO_GZ + + +- ros_topic_name: "odom" + gz_topic_name: "/model/eddie/odometry" + ros_type_name: "nav_msgs/msg/Odometry" + gz_type_name: "gz.msgs.Odometry" + direction: "GZ_TO_ROS" \ No newline at end of file diff --git a/launch/load_gazebo.launch.py b/launch/load_gazebo.launch.py index 7705132..c733a26 100644 --- a/launch/load_gazebo.launch.py +++ b/launch/load_gazebo.launch.py @@ -5,6 +5,7 @@ AppendEnvironmentVariable, SetEnvironmentVariable, IncludeLaunchDescription, + DeclareLaunchArgument, ) from launch.launch_description_sources import PythonLaunchDescriptionSource from launch.substitutions import ( @@ -35,6 +36,20 @@ def generate_launch_description(): get_package_share_directory("eddie_description"), "config/rviz", "eddie.rviz" ) + use_kelo_tulip_arg = DeclareLaunchArgument( + "use_kelo_tulip", + default_value="false", + description="Use kelo_tulip to control platform" + ) + + use_kelo_tulip = LaunchConfiguration("use_kelo_tulip") + + gz_bridge_config_path = os.path.join( + get_package_share_directory("eddie_gazebo"), + 'config', + 'gz_ros_bridge.yaml' + ) + # Get package directories pkg_eddie_gazebo = get_package_share_directory("eddie_gazebo") pkg_eddie_share_description = get_package_share_directory("eddie_description") @@ -81,6 +96,7 @@ def generate_launch_description(): launch_arguments={ "use_ros2_control": "true", "use_gz_sim": "true", + "use_kelo_tulip": use_kelo_tulip, "use_sim_time": use_sim_time, }.items(), ) @@ -130,12 +146,24 @@ def generate_launch_description(): }.items(), ) + bridge_gz_ros_node = Node( + package='ros_gz_bridge', + executable='parameter_bridge', + arguments=[ + '--ros-args', '-p', + f'config_file:={gz_bridge_config_path}' + ], + output='screen' + ) + return LaunchDescription( [ + use_kelo_tulip_arg, set_env_vars_resources, rviz2_node, gz_launch_description, load_eddie_launch, gz_spawn_entity, + bridge_gz_ros_node, ] ) diff --git a/launch/run_sim.launch.py b/launch/run_sim.launch.py index 08bec92..a8d9148 100644 --- a/launch/run_sim.launch.py +++ b/launch/run_sim.launch.py @@ -1,8 +1,9 @@ import os from ament_index_python.packages import get_package_share_directory from launch import LaunchDescription -from launch.actions import IncludeLaunchDescription +from launch.actions import IncludeLaunchDescription, DeclareLaunchArgument from launch.launch_description_sources import PythonLaunchDescriptionSource +from launch.substitutions import LaunchConfiguration def generate_launch_description(): @@ -14,6 +15,16 @@ def generate_launch_description(): LaunchDescription: The launch description for the Eddie robot simulation. """ + # Define arguments + use_kelo_tulip_arg = DeclareLaunchArgument( + "use_kelo_tulip", + default_value="false", + description="Use kelo_tulip for platform control", + ) + + # Get the argument value + use_kelo_tulip = LaunchConfiguration("use_kelo_tulip") + # Get package directories pkg_eddie_share_description = get_package_share_directory("eddie_gazebo") @@ -26,7 +37,8 @@ def generate_launch_description(): "load_gazebo.launch.py", ) ] - ) + ), + launch_arguments={"use_kelo_tulip": use_kelo_tulip}.items(), ) load_gz_controllers_launch = IncludeLaunchDescription( @@ -41,4 +53,10 @@ def generate_launch_description(): ) ) - return LaunchDescription([load_eddie_gazebo_launch, load_gz_controllers_launch]) + return LaunchDescription( + [ + use_kelo_tulip_arg, + load_eddie_gazebo_launch, + load_gz_controllers_launch + ] + ) \ No newline at end of file From 410f1353d9734455922bc2fce48c37e0e801c7be Mon Sep 17 00:00:00 2001 From: Vamsi Date: Mon, 25 Nov 2024 14:20:52 +0100 Subject: [PATCH 10/22] added carpet texture --- launch/load_gazebo.launch.py | 1 + meshes/textures/lab_tiles.png | Bin 0 -> 925602 bytes setup.py | 12 ++++++++++++ worlds/eddie_basic_world.sdf | 16 +++++++++++----- 4 files changed, 24 insertions(+), 5 deletions(-) create mode 100644 meshes/textures/lab_tiles.png diff --git a/launch/load_gazebo.launch.py b/launch/load_gazebo.launch.py index c733a26..a6cd8ae 100644 --- a/launch/load_gazebo.launch.py +++ b/launch/load_gazebo.launch.py @@ -57,6 +57,7 @@ def generate_launch_description(): # Resource paths to be added to the GZ_SIM_RESOURCE_PATH environment variable resource_paths = [ + os.path.join(pkg_eddie_gazebo, ".."), os.path.join(pkg_eddie_share_description, ".."), os.path.join(pkg_robotiq_share_description, ".."), ] diff --git a/meshes/textures/lab_tiles.png b/meshes/textures/lab_tiles.png new file mode 100644 index 0000000000000000000000000000000000000000..77bd5b4a03846f54c0d0ab19188f1d1f61f4fe8e GIT binary patch literal 925602 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zgUk6)Z!nqkaC-tjnomJla+{7hgpblH(A^!pZ*J!ZmT>uCR+7DpnW?CP>a|hQ#J)Nd z*=w;vJfi|rdhTQ81G5%-qxhoV;H*4mlpN{#jzgZs8plnt_jUBMgg%2ez<}~wB`nUr=;U2QneWDWYf<1wO-Wm^R^BS){{a4wH7WoA literal 0 HcmV?d00001 diff --git a/setup.py b/setup.py index 5ec22f3..3f2865a 100644 --- a/setup.py +++ b/setup.py @@ -4,6 +4,17 @@ package_name = "eddie_gazebo" + +def get_all_files(directory): + paths = [] + for root, _, files in os.walk(directory): + for file in files: + paths.append( + (os.path.join("share", package_name, root), [os.path.join(root, file)]) + ) + return paths + + setup( name=package_name, version="0.0.1", @@ -19,6 +30,7 @@ os.path.join("share", package_name, "worlds"), glob.glob(os.path.join("worlds", "*.sdf")), ), + *get_all_files("meshes"), ( os.path.join("share", package_name, "config"), glob.glob(os.path.join("config", "*.yaml")), diff --git a/worlds/eddie_basic_world.sdf b/worlds/eddie_basic_world.sdf index 979f0d2..22c96fa 100644 --- a/worlds/eddie_basic_world.sdf +++ b/worlds/eddie_basic_world.sdf @@ -95,10 +95,16 @@ - - 0.1 0.1 0.1 1 - 0.1 0.1 0.1 1 - 0.05 0.05 0.05 1 + + + + file://eddie_gazebo/meshes/textures/lab_tiles.png + + + + 0.8 0.8 0.8 1 + 0.8 0.8 0.8 1 + 0.8 0.8 0.8 1 @@ -120,7 +126,7 @@ false - 10 + From e4810c42163a07beedd7ab99c53307db49fc37d9 Mon Sep 17 00:00:00 2001 From: Vamsi Date: Wed, 27 Nov 2024 16:54:02 +0100 Subject: [PATCH 11/22] add use_kelo_tulip argument to controller launch files --- launch/load_gz_controllers.launch.py | 19 +++++++++++++++---- launch/run_sim.launch.py | 13 +++++-------- 2 files changed, 20 insertions(+), 12 deletions(-) diff --git a/launch/load_gz_controllers.launch.py b/launch/load_gz_controllers.launch.py index 7c9adae..84c663b 100644 --- a/launch/load_gz_controllers.launch.py +++ b/launch/load_gz_controllers.launch.py @@ -31,6 +31,8 @@ def select_controller(context, *args, **kwargs): declared_base_controller = LaunchConfiguration("base_controller").perform(context) declared_arm_controller = LaunchConfiguration("arm_controller").perform(context) + use_kelo_tulip = LaunchConfiguration("use_kelo_tulip").perform(context) + # Load and activate the arm effort controllers load_arm_left_effort_controller = Node( package="controller_manager", @@ -139,10 +141,12 @@ def select_controller(context, *args, **kwargs): raise ValueError(f"Undefined arm_controller: {declared_arm_controller}") else: # Return the selected base and arm controllers for execution - return [ - base_controller_map[declared_base_controller], - *arm_controller_map[declared_arm_controller], - ] + return ( + [*arm_controller_map[declared_arm_controller]] + + [base_controller_map[declared_base_controller]] + if use_kelo_tulip == "true" + else [] + ) def generate_launch_description(): @@ -169,6 +173,12 @@ def generate_launch_description(): description="Specify controller for arm (joint_trajectory, effort) (default: joint_trajectory)", ) + use_kelo_tulip_arg = DeclareLaunchArgument( + "use_kelo_tulip", + default_value="false", + description="Use kelo_tulip to control platform", + ) + load_joint_state_broadcaster = Node( package="controller_manager", executable="spawner", @@ -184,6 +194,7 @@ def generate_launch_description(): return LaunchDescription( [ + use_kelo_tulip_arg, declare_base_controller_type, declare_arm_controller_type, load_joint_state_broadcaster, diff --git a/launch/run_sim.launch.py b/launch/run_sim.launch.py index a8d9148..df638c8 100644 --- a/launch/run_sim.launch.py +++ b/launch/run_sim.launch.py @@ -49,14 +49,11 @@ def generate_launch_description(): "launch", "load_gz_controllers.launch.py", ) - ] - ) + ], + ), + launch_arguments={"use_kelo_tulip": use_kelo_tulip}.items(), ) return LaunchDescription( - [ - use_kelo_tulip_arg, - load_eddie_gazebo_launch, - load_gz_controllers_launch - ] - ) \ No newline at end of file + [use_kelo_tulip_arg, load_eddie_gazebo_launch, load_gz_controllers_launch] + ) From 33603fc05640a47e4ead0f4efae3b639aa180dfa Mon Sep 17 00:00:00 2001 From: Vamsi Date: Thu, 28 Nov 2024 15:08:01 +0100 Subject: [PATCH 12/22] added brsu floor model to the gazebo world --- README.md | 2 +- launch/load_gazebo.launch.py | 175 ++++++------------ .../brsu_building_c_level_2.sdf | 30 +++ .../brsu_building_c_level_2.stl | Bin 0 -> 114084 bytes package.xml | 1 + worlds/eddie_basic_world.sdf | 60 +----- worlds/eddie_world.sdf | 141 ++++++++++++++ 7 files changed, 233 insertions(+), 176 deletions(-) create mode 100644 meshes/floorplan-gen/brsu_building_c_level_2/brsu_building_c_level_2.sdf create mode 100644 meshes/floorplan-gen/brsu_building_c_level_2/brsu_building_c_level_2.stl create mode 100644 worlds/eddie_world.sdf diff --git a/README.md b/README.md index 1b79b96..7b3525a 100644 --- a/README.md +++ b/README.md @@ -11,7 +11,7 @@ robot. - **Gazebo Version**: Harmonic ```bash - sudo apt-get install ros-jazzy-ros-gz + sudo apt-get install ros-jazzy-ros-gz ros-jazzy-simple-launch ``` - Ensure that the environment variable `GZ_VERSION` is set to `harmonic` when building the diff --git a/launch/load_gazebo.launch.py b/launch/load_gazebo.launch.py index a6cd8ae..fced51b 100644 --- a/launch/load_gazebo.launch.py +++ b/launch/load_gazebo.launch.py @@ -1,55 +1,32 @@ import os from ament_index_python.packages import get_package_share_directory -from launch import LaunchDescription from launch.actions import ( AppendEnvironmentVariable, SetEnvironmentVariable, - IncludeLaunchDescription, - DeclareLaunchArgument, ) -from launch.launch_description_sources import PythonLaunchDescriptionSource -from launch.substitutions import ( - LaunchConfiguration, - PathJoinSubstitution, -) -from launch_ros.actions import Node -from launch_ros.substitutions import FindPackageShare -from launch.conditions import IfCondition +from simple_launch import SimpleLauncher def generate_launch_description(): - """Generates the launch description for the Eddie robot gazebo simulation. - - This function sets up the environment variables, launches the Gazebo simulation. - - Returns: - LaunchDescription: The launch description for the Eddie robot simulation. - """ - # Configuration to use simulation time (use by default) - use_sim_time = LaunchConfiguration("use_sim_time", default=True) - - # enable rviz - use_rviz = LaunchConfiguration("use_rviz", default=False) + sl = SimpleLauncher(use_sim_time=True) - # Declare path of rviz configuration file - eddie_rviz_config_file = os.path.join( - get_package_share_directory("eddie_description"), "config/rviz", "eddie.rviz" + sl.declare_arg("use_rviz", default_value="false", description="Use RViz") + sl.declare_arg( + "use_floorplan_model", default_value="True", description="Use floorplan model" ) - - use_kelo_tulip_arg = DeclareLaunchArgument( + sl.declare_arg( + "floorplan_model_name", + default_value="brsu_building_c_level_2", + description="Name of the floorplan model", + ) + sl.declare_arg( "use_kelo_tulip", default_value="false", - description="Use kelo_tulip to control platform" + description="Use kelo_tulip to control platform", ) - - use_kelo_tulip = LaunchConfiguration("use_kelo_tulip") - gz_bridge_config_path = os.path.join( - get_package_share_directory("eddie_gazebo"), - 'config', - 'gz_ros_bridge.yaml' - ) - + gz_bridge_config_path = sl.find("eddie_gazebo", "gz_ros_bridge.yaml", "config") + # Get package directories pkg_eddie_gazebo = get_package_share_directory("eddie_gazebo") pkg_eddie_share_description = get_package_share_directory("eddie_description") @@ -80,91 +57,55 @@ def generate_launch_description(): name=gz_reource_env_var, value=resource_paths_str ) + sl.add_action(set_env_vars_resources) + # World and robot files - world_file = os.path.join(pkg_eddie_gazebo, "worlds", "eddie_basic_world.sdf") - - # load eddie - load_eddie_launch = IncludeLaunchDescription( - PythonLaunchDescriptionSource( - [ - os.path.join( - get_package_share_directory("eddie_description"), - "launch", - "load_eddie.launch.py", - ) - ] - ), - launch_arguments={ - "use_ros2_control": "true", - "use_gz_sim": "true", - "use_kelo_tulip": use_kelo_tulip, - "use_sim_time": use_sim_time, - }.items(), + world_file = sl.find("eddie_gazebo", "eddie_basic_world.sdf", "worlds") + + # Load eddie_description + eddie_description_args = { + "use_kelo_tulip": sl.arg("use_kelo_tulip"), + "use_sim_time": "true", + "use_ros2_control": "true", + "use_gz_sim": "true", + } + sl.include( + "eddie_description", + "load_eddie.launch.py", + launch_arguments=eddie_description_args, ) - # Spawn entity - gz_spawn_entity = Node( - package="ros_gz_sim", - executable="create", - output="screen", - arguments=[ - "-topic", - "robot_description", - "-name", - "eddie", - "-allow_renaming", - "true", - "-x", - "0", - "-y", - "0", - "-z", - "0.01", - ], - ) + # launch gz sim + sl.gz_launch(world_file, gz_args=" -r -v 1") - rviz2_node = Node( - package="rviz2", - executable="rviz2", - name="rviz2", - arguments=["-d", eddie_rviz_config_file], - output="screen", - condition=IfCondition(use_rviz), + # Spawn eddie model + sl.spawn_gz_model( + "eddie", + "robot_description", + spawn_args=["x", "0", "y", "0", "z", "0.01", "allow_renaming", "true"], ) - # gazebo launch description - gz_launch_description = IncludeLaunchDescription( - PythonLaunchDescriptionSource( - [ - PathJoinSubstitution( - [FindPackageShare("ros_gz_sim"), "launch", "gz_sim.launch.py"] - ) - ] - ), - launch_arguments={ - # "gz_args": f" -r -v 1 --physics-engine gz-physics-bullet-featherstone-plugin {world_file}" - "gz_args": f" -r -v 1 {world_file}" - }.items(), + # Launch gz bridge + sl.node( + "ros_gz_bridge", + "parameter_bridge", + arguments=["--ros-args", "-p", f"config_file:={gz_bridge_config_path}"], ) - bridge_gz_ros_node = Node( - package='ros_gz_bridge', - executable='parameter_bridge', - arguments=[ - '--ros-args', '-p', - f'config_file:={gz_bridge_config_path}' - ], - output='screen' - ) - - return LaunchDescription( - [ - use_kelo_tulip_arg, - set_env_vars_resources, - rviz2_node, - gz_launch_description, - load_eddie_launch, - gz_spawn_entity, - bridge_gz_ros_node, - ] - ) + # spawn floorplan model + with sl.group(if_arg="use_floorplan_model"): + model_sdf = sl.find( + "eddie_gazebo", + sl.arg("floorplan_model_name") + ".sdf", + "meshes/floorplan-gen/" + sl.arg("floorplan_model_name"), + ) + sl.spawn_gz_model( + "floorplan_model", + model_file=model_sdf, + spawn_args=["x", "0", "y", "0", "z", "0", "allow_renaming", "true"], + ) + + with sl.group(if_arg="use_rviz"): + sl.rviz(sl.find("eddie_description", "eddie.rvviz", "config/rviz")) + + return sl.launch_description() diff --git a/meshes/floorplan-gen/brsu_building_c_level_2/brsu_building_c_level_2.sdf b/meshes/floorplan-gen/brsu_building_c_level_2/brsu_building_c_level_2.sdf new file mode 100644 index 0000000..2945c9e --- /dev/null +++ b/meshes/floorplan-gen/brsu_building_c_level_2/brsu_building_c_level_2.sdf @@ -0,0 +1,30 @@ + + + + + + + + + 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diff --git a/worlds/eddie_basic_world.sdf b/worlds/eddie_basic_world.sdf index 22c96fa..0d7515d 100644 --- a/worlds/eddie_basic_world.sdf +++ b/worlds/eddie_basic_world.sdf @@ -50,7 +50,7 @@ 0 0 1 - 100 100 + 1000 1000 @@ -65,7 +65,7 @@ 0 0 1 - 100 100 + 1000 1000 @@ -77,62 +77,6 @@ - - 0 0 0.01 0 0 0 - - - 0.5 - - 0.0 - 0.0 - 0.0 - - - - - - 5 10 0.01 - - - - - - - file://eddie_gazebo/meshes/textures/lab_tiles.png - - - - 0.8 0.8 0.8 1 - 0.8 0.8 0.8 1 - 0.8 0.8 0.8 1 - - - - - - 5 10 0.01 - - - - - - - 0.6 - 0.6 - - - - 0.1 - - - false - - - - - - - true diff --git a/worlds/eddie_world.sdf b/worlds/eddie_world.sdf new file mode 100644 index 0000000..e818a61 --- /dev/null +++ b/worlds/eddie_world.sdf @@ -0,0 +1,141 @@ + + + + + 0.001 + 1.0 + + 0 0 -9.81 + + + + + + + + + ogre2 + + + + + + true + 0 0 10 0 0 0 + 0.8 0.8 0.8 1 + 0.2 0.2 0.2 1 + + 1000 + 0.9 + 0.01 + 0.001 + + -0.5 0.1 -0.9 + + + + true + + + + + 0 0 1 + 1000 100 + + + + + + 1 + + + + + + + + 0 0 1 + 100 100 + + + + 0.8 0.8 0.8 1 + 0.8 0.8 0.8 1 + 0.8 0.8 0.8 1 + + + + + + + 0 0 0.01 0 0 0 + + + 0.5 + + 0.0 + 0.0 + 0.0 + + + + + + 5 10 0.01 + + + + + + + file://eddie_gazebo/meshes/textures/lab_tiles.png + + + + 0.8 0.8 0.8 1 + 0.8 0.8 0.8 1 + 0.8 0.8 0.8 1 + + + + + + 5 10 0.01 + + + + + + + 0.6 + 0.6 + + + + 0.1 + + + false + + + + + + + + + + true + + + \ No newline at end of file From 4256f0a2f92807e29138c41680c43f7570a881f7 Mon Sep 17 00:00:00 2001 From: Vamsi Date: Thu, 28 Nov 2024 17:40:39 +0100 Subject: [PATCH 13/22] add IMU and LaserScan topics to gz_ros_bridge configuration --- config/gz_ros_bridge.yaml | 15 +++++++++++---- 1 file changed, 11 insertions(+), 4 deletions(-) diff --git a/config/gz_ros_bridge.yaml b/config/gz_ros_bridge.yaml index 2886d8f..26ab2a3 100644 --- a/config/gz_ros_bridge.yaml +++ b/config/gz_ros_bridge.yaml @@ -5,16 +5,23 @@ ros_type_name: "rosgraph_msgs/msg/Clock" gz_type_name: "gz.msgs.Clock" direction: GZ_TO_ROS - - ros_topic_name: "cmd_vel" gz_topic_name: "/model/eddie/cmd_vel" ros_type_name: "geometry_msgs/msg/Twist" gz_type_name: "gz.msgs.Twist" direction: ROS_TO_GZ - - - ros_topic_name: "odom" gz_topic_name: "/model/eddie/odometry" ros_type_name: "nav_msgs/msg/Odometry" gz_type_name: "gz.msgs.Odometry" - direction: "GZ_TO_ROS" \ No newline at end of file + direction: "GZ_TO_ROS" +- ros_topic_name: "imu" + gz_topic_name: "/eddie_imu" + ros_type_name: "sensor_msgs/msg/Imu" + gz_type_name: "gz.msgs.IMU" + direction: GZ_TO_ROS +- ros_topic_name: "scan" + gz_topic_name: "/eddie_front_right_laser" + ros_type_name: "sensor_msgs/msg/LaserScan" + gz_type_name: "gz.msgs.LaserScan" + direction: GZ_TO_ROS From 9aa14d6142dc834c3b1bd80e9ce6c43fc99bad2f Mon Sep 17 00:00:00 2001 From: Vamsi Date: Fri, 29 Nov 2024 11:42:49 +0100 Subject: [PATCH 14/22] fix spawn position and update ground plane model names in SDF --- launch/load_gazebo.launch.py | 2 +- worlds/eddie_basic_world.sdf | 8 ++++---- 2 files changed, 5 insertions(+), 5 deletions(-) diff --git a/launch/load_gazebo.launch.py b/launch/load_gazebo.launch.py index fced51b..ab0d614 100644 --- a/launch/load_gazebo.launch.py +++ b/launch/load_gazebo.launch.py @@ -82,7 +82,7 @@ def generate_launch_description(): sl.spawn_gz_model( "eddie", "robot_description", - spawn_args=["x", "0", "y", "0", "z", "0.01", "allow_renaming", "true"], + spawn_args=["x", "0", "y", "0", "z", "0", "allow_renaming", "true"], ) # Launch gz bridge diff --git a/worlds/eddie_basic_world.sdf b/worlds/eddie_basic_world.sdf index 0d7515d..80edad6 100644 --- a/worlds/eddie_basic_world.sdf +++ b/worlds/eddie_basic_world.sdf @@ -45,8 +45,8 @@ true - - + + 0 0 1 @@ -56,12 +56,12 @@ - 1 + 0.6 - + 0 0 1 From 2dfd102cecc8a06270b06cae4c1ca93140b062c5 Mon Sep 17 00:00:00 2001 From: Vamsi Date: Fri, 29 Nov 2024 12:39:27 +0100 Subject: [PATCH 15/22] add tf topic and update laser scan configuration in gz_ros_bridge --- config/gz_ros_bridge.yaml | 14 ++++++++++++-- worlds/eddie_basic_world.sdf | 2 +- 2 files changed, 13 insertions(+), 3 deletions(-) diff --git a/config/gz_ros_bridge.yaml b/config/gz_ros_bridge.yaml index 26ab2a3..395524d 100644 --- a/config/gz_ros_bridge.yaml +++ b/config/gz_ros_bridge.yaml @@ -1,5 +1,3 @@ -# Full set of configurations - - ros_topic_name: "/clock" gz_topic_name: "/world/eddie_world/clock" ros_type_name: "rosgraph_msgs/msg/Clock" @@ -20,8 +18,20 @@ ros_type_name: "sensor_msgs/msg/Imu" gz_type_name: "gz.msgs.IMU" direction: GZ_TO_ROS +# Laser scan topics - ros_topic_name: "scan" gz_topic_name: "/eddie_front_right_laser" ros_type_name: "sensor_msgs/msg/LaserScan" gz_type_name: "gz.msgs.LaserScan" direction: GZ_TO_ROS +# - ros_topic_name: "scan" +# gz_topic_name: "/eddie_rear_left_laser" +# ros_type_name: "sensor_msgs/msg/LaserScan" +# gz_type_name: "gz.msgs.LaserScan" +# direction: GZ_TO_ROS +# odom to base_footprint transform +- ros_topic_name: "/tf" + gz_topic_name: "/model/eddie/pose" + ros_type_name: "tf2_msgs/msg/TFMessage" + gz_type_name: "gz.msgs.Pose_V" + direction: GZ_TO_ROS diff --git a/worlds/eddie_basic_world.sdf b/worlds/eddie_basic_world.sdf index 80edad6..03204e7 100644 --- a/worlds/eddie_basic_world.sdf +++ b/worlds/eddie_basic_world.sdf @@ -56,7 +56,7 @@ - 0.6 + From b639331a05109ff48231a8b37ade09e0d6f54a70 Mon Sep 17 00:00:00 2001 From: Vamsi Date: Fri, 29 Nov 2024 16:01:34 +0100 Subject: [PATCH 16/22] update cmd_vel topic name and add simple_world model to Gazebo launch --- config/gz_ros_bridge.yaml | 2 +- launch/load_gazebo.launch.py | 28 ++- meshes/simple_world.dae | 425 +++++++++++++++++++++++++++++++++++ meshes/simple_world.sdf | 24 ++ meshes/simple_world.stl | Bin 0 -> 4284 bytes 5 files changed, 467 insertions(+), 12 deletions(-) create mode 100644 meshes/simple_world.dae create mode 100644 meshes/simple_world.sdf create mode 100644 meshes/simple_world.stl diff --git a/config/gz_ros_bridge.yaml b/config/gz_ros_bridge.yaml index 395524d..daf79ea 100644 --- a/config/gz_ros_bridge.yaml +++ b/config/gz_ros_bridge.yaml @@ -3,7 +3,7 @@ ros_type_name: "rosgraph_msgs/msg/Clock" gz_type_name: "gz.msgs.Clock" direction: GZ_TO_ROS -- ros_topic_name: "cmd_vel" +- ros_topic_name: "/cmd_vel" gz_topic_name: "/model/eddie/cmd_vel" ros_type_name: "geometry_msgs/msg/Twist" gz_type_name: "gz.msgs.Twist" diff --git a/launch/load_gazebo.launch.py b/launch/load_gazebo.launch.py index ab0d614..1c2d116 100644 --- a/launch/load_gazebo.launch.py +++ b/launch/load_gazebo.launch.py @@ -93,17 +93,23 @@ def generate_launch_description(): ) # spawn floorplan model - with sl.group(if_arg="use_floorplan_model"): - model_sdf = sl.find( - "eddie_gazebo", - sl.arg("floorplan_model_name") + ".sdf", - "meshes/floorplan-gen/" + sl.arg("floorplan_model_name"), - ) - sl.spawn_gz_model( - "floorplan_model", - model_file=model_sdf, - spawn_args=["x", "0", "y", "0", "z", "0", "allow_renaming", "true"], - ) + # with sl.group(if_arg="use_floorplan_model"): + # model_sdf = sl.find( + # "eddie_gazebo", + # sl.arg("floorplan_model_name") + 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gz_reource_env_var = "GZ_SIM_RESOURCE_PATH" + gz_resource_env_var = "GZ_SIM_RESOURCE_PATH" # check if the environment variable is already set - if gz_reource_env_var in os.environ: - resource_paths_str = os.environ[gz_reource_env_var] + ":" + resource_paths_str + if gz_resource_env_var in os.environ: + resource_paths_str = os.environ[gz_resource_env_var] + ":" + resource_paths_str # append the new path to the existing path set_env_vars_resources = AppendEnvironmentVariable( - name=gz_reource_env_var, value=resource_paths_str + name=gz_resource_env_var, value=resource_paths_str ) else: # set the new path set_env_vars_resources = SetEnvironmentVariable( - name=gz_reource_env_var, value=resource_paths_str + name=gz_resource_env_var, value=resource_paths_str ) sl.add_action(set_env_vars_resources) diff --git a/launch/load_gz_controllers.launch.py b/launch/load_gz_controllers.launch.py index 84c663b..7884625 100644 --- a/launch/load_gz_controllers.launch.py +++ b/launch/load_gz_controllers.launch.py @@ -44,6 +44,7 @@ def select_controller(context, *args, **kwargs): "--controller-manager-timeout", "30", ], + parameters=[{"use_sim_time": True}], ) load_arm_right_effort_controller = Node( @@ -56,6 +57,7 @@ def select_controller(context, *args, **kwargs): "--controller-manager-timeout", "30", ], + parameters=[{"use_sim_time": True}], ) # Load and activate the arm joint trajectory controllers @@ -69,6 +71,7 @@ def select_controller(context, *args, **kwargs): "--controller-manager-timeout", "30", ], + parameters=[{"use_sim_time": True}], ) load_joint_trajectory_controller_right = Node( package="controller_manager", @@ -80,6 +83,7 @@ def select_controller(context, *args, **kwargs): "--controller-manager-timeout", "30", ], + parameters=[{"use_sim_time": True}], ) # Load and activate the base controllers @@ -93,6 +97,7 @@ def select_controller(context, *args, **kwargs): "--controller-manager-timeout", "30", ], + parameters=[{"use_sim_time": True}], ) load_joint_velocity_controller = Node( @@ -105,6 +110,7 @@ def select_controller(context, *args, **kwargs): "--controller-manager-timeout", "30", ], + parameters=[{"use_sim_time": True}], ) load_joint_effort_controller = Node( @@ -117,6 +123,7 @@ def select_controller(context, *args, **kwargs): "--controller-manager-timeout", "30", ], + parameters=[{"use_sim_time": True}], ) # Define a dictionary to map the declared base controller type to its corresponding controllers @@ -189,6 +196,7 @@ def generate_launch_description(): "--controller-manager-timeout", "30", ], + parameters=[{"use_sim_time": True}], output="screen", ) From d653342e7e846bdb2ba76c354f3691322d1cb73d Mon Sep 17 00:00:00 2001 From: Kishan Sawant Date: Mon, 9 Dec 2024 19:19:23 +0100 Subject: [PATCH 18/22] reorder controllers --- config/eddie_controllers.yaml | 24 ++++++++++++------------ 1 file changed, 12 insertions(+), 12 deletions(-) diff --git a/config/eddie_controllers.yaml b/config/eddie_controllers.yaml index 1ee7183..0e3042f 100644 --- a/config/eddie_controllers.yaml +++ b/config/eddie_controllers.yaml @@ -106,12 +106,12 @@ base_position_controller: joints: - eddie_front_left_drive_l_wheel_joint - eddie_front_left_drive_r_wheel_joint - - eddie_front_right_drive_l_wheel_joint - - eddie_front_right_drive_r_wheel_joint - - eddie_rear_right_drive_l_wheel_joint - - eddie_rear_right_drive_r_wheel_joint - eddie_rear_left_drive_l_wheel_joint - eddie_rear_left_drive_r_wheel_joint + - eddie_rear_right_drive_l_wheel_joint + - eddie_rear_right_drive_r_wheel_joint + - eddie_front_right_drive_l_wheel_joint + - eddie_front_right_drive_r_wheel_joint # command_interfaces: # - position # state_interfaces: @@ -128,12 +128,12 @@ base_velocity_controller: joints: - eddie_front_left_drive_l_wheel_joint - eddie_front_left_drive_r_wheel_joint - - eddie_front_right_drive_l_wheel_joint - - eddie_front_right_drive_r_wheel_joint - - eddie_rear_right_drive_l_wheel_joint - - eddie_rear_right_drive_r_wheel_joint - eddie_rear_left_drive_l_wheel_joint - eddie_rear_left_drive_r_wheel_joint + - eddie_rear_right_drive_l_wheel_joint + - eddie_rear_right_drive_r_wheel_joint + - eddie_front_right_drive_l_wheel_joint + - eddie_front_right_drive_r_wheel_joint # command_interfaces: # - velocity # state_interfaces: @@ -150,12 +150,12 @@ base_effort_controller: joints: - eddie_front_left_drive_l_wheel_joint - eddie_front_left_drive_r_wheel_joint - - eddie_front_right_drive_l_wheel_joint - - eddie_front_right_drive_r_wheel_joint - - eddie_rear_right_drive_l_wheel_joint - - eddie_rear_right_drive_r_wheel_joint - eddie_rear_left_drive_l_wheel_joint - eddie_rear_left_drive_r_wheel_joint + - eddie_rear_right_drive_l_wheel_joint + - eddie_rear_right_drive_r_wheel_joint + - eddie_front_right_drive_l_wheel_joint + - eddie_front_right_drive_r_wheel_joint # command_interfaces: # - effort # state_interfaces: From 339d345e69256e78afd7f505aea86454acc942cc Mon Sep 17 00:00:00 2001 From: Vamsi Date: Fri, 13 Dec 2024 12:54:32 +0100 Subject: [PATCH 19/22] add kelo_tulip node with use_sim_time argument to Gazebo launch --- launch/load_gazebo.launch.py | 9 +++++++++ 1 file changed, 9 insertions(+) diff --git a/launch/load_gazebo.launch.py b/launch/load_gazebo.launch.py index 861dc75..5a2482e 100644 --- a/launch/load_gazebo.launch.py +++ b/launch/load_gazebo.launch.py @@ -114,4 +114,13 @@ def generate_launch_description(): with sl.group(if_arg="use_rviz"): sl.rviz(sl.find("eddie_description", "eddie.rvviz", "config/rviz")) + with sl.group(if_arg="use_kelo_tulip"): + sl.node( + "kelo_tulip", + "kelo_gazebo_platform_controller", + arguments=[ + "use_sim_time:=true", + ], + ) + return sl.launch_description() From 27695fcae4ae806e9e0c914a730628a6cb5b4f3b Mon Sep 17 00:00:00 2001 From: Vamsi Date: Sun, 15 Dec 2024 01:09:25 +0100 Subject: [PATCH 20/22] add output option to kelo_gazebo_platform_controller in Gazebo launch --- launch/load_gazebo.launch.py | 2 ++ 1 file changed, 2 insertions(+) diff --git a/launch/load_gazebo.launch.py b/launch/load_gazebo.launch.py index 5a2482e..ba723c1 100644 --- a/launch/load_gazebo.launch.py +++ b/launch/load_gazebo.launch.py @@ -120,7 +120,9 @@ def generate_launch_description(): "kelo_gazebo_platform_controller", arguments=[ "use_sim_time:=true", + # "__log_level:=debug", ], + output="screen", ) return sl.launch_description() From d50df0840f464f6b18de8130d29e79abad8d2d23 Mon Sep 17 00:00:00 2001 From: Vamsi Date: Tue, 17 Dec 2024 18:54:04 +0100 Subject: [PATCH 21/22] refactor: remove unused base_position_controller and update launch files to use simple launcher --- config/eddie_controllers.yaml | 46 ---------------------------- launch/load_gazebo.launch.py | 14 ++++----- launch/run_sim.launch.py | 56 +++++++++-------------------------- worlds/eddie_basic_world.sdf | 2 +- 4 files changed, 21 insertions(+), 97 deletions(-) diff --git a/config/eddie_controllers.yaml b/config/eddie_controllers.yaml index 0e3042f..72a5b05 100644 --- a/config/eddie_controllers.yaml +++ b/config/eddie_controllers.yaml @@ -11,8 +11,6 @@ controller_manager: type: effort_controllers/JointGroupEffortController arm_left_effort_controller: type: effort_controllers/JointGroupEffortController - base_position_controller: - type: position_controllers/JointGroupPositionController base_velocity_controller: type: velocity_controllers/JointGroupVelocityController base_effort_controller: @@ -101,28 +99,6 @@ arm_left_effort_controller: constraints: stopped_velocity_tolerance: 0.0 goal_time: 0.0 -base_position_controller: - ros__parameters: - joints: - - eddie_front_left_drive_l_wheel_joint - - eddie_front_left_drive_r_wheel_joint - - eddie_rear_left_drive_l_wheel_joint - - eddie_rear_left_drive_r_wheel_joint - - eddie_rear_right_drive_l_wheel_joint - - eddie_rear_right_drive_r_wheel_joint - - eddie_front_right_drive_l_wheel_joint - - eddie_front_right_drive_r_wheel_joint - # command_interfaces: - # - position - # state_interfaces: - # - position - # - velocity - # state_publish_rate: 100.0 - # action_monitor_rate: 20.0 - # allow_partial_joints_goal: false - # constraints: - # stopped_velocity_tolerance: 0.0 - # goal_time: 0.0 base_velocity_controller: ros__parameters: joints: @@ -134,17 +110,6 @@ base_velocity_controller: - eddie_rear_right_drive_r_wheel_joint - eddie_front_right_drive_l_wheel_joint - eddie_front_right_drive_r_wheel_joint - # command_interfaces: - # - velocity - # state_interfaces: - # - position - # - velocity - # state_publish_rate: 100.0 - # action_monitor_rate: 20.0 - # allow_partial_joints_goal: false - # constraints: - # stopped_velocity_tolerance: 0.0 - # goal_time: 0.0 base_effort_controller: ros__parameters: joints: @@ -156,14 +121,3 @@ base_effort_controller: - eddie_rear_right_drive_r_wheel_joint - eddie_front_right_drive_l_wheel_joint - eddie_front_right_drive_r_wheel_joint - # command_interfaces: - # - effort - # state_interfaces: - # - position - # - velocity - # state_publish_rate: 100.0 - # action_monitor_rate: 20.0 - # allow_partial_joints_goal: false - # constraints: - # stopped_velocity_tolerance: 0.0 - # goal_time: 0.0 diff --git a/launch/load_gazebo.launch.py b/launch/load_gazebo.launch.py index ba723c1..2cd77f7 100644 --- a/launch/load_gazebo.launch.py +++ b/launch/load_gazebo.launch.py @@ -10,6 +10,8 @@ def generate_launch_description(): sl = SimpleLauncher(use_sim_time=True) + sl.declare_arg("use_sim_time", "true", description="Use simulation time") + sl.declare_arg("use_rviz", default_value="false", description="Use RViz") sl.declare_arg( "use_floorplan_model", default_value="True", description="Use floorplan model" @@ -65,7 +67,7 @@ def generate_launch_description(): # Load eddie_description eddie_description_args = { "use_kelo_tulip": sl.arg("use_kelo_tulip"), - "use_sim_time": "true", + "use_sim_time": sl.arg("use_sim_time"), "use_ros2_control": "true", "use_gz_sim": "true", } @@ -115,14 +117,10 @@ def generate_launch_description(): sl.rviz(sl.find("eddie_description", "eddie.rvviz", "config/rviz")) with sl.group(if_arg="use_kelo_tulip"): - sl.node( + sl.include( "kelo_tulip", - "kelo_gazebo_platform_controller", - arguments=[ - "use_sim_time:=true", - # "__log_level:=debug", - ], - output="screen", + "kelo_platform_controller_gz.launch.py", + launch_arguments={"use_sim_time": sl.arg("use_sim_time")}, ) return sl.launch_description() diff --git a/launch/run_sim.launch.py b/launch/run_sim.launch.py index df638c8..4addccd 100644 --- a/launch/run_sim.launch.py +++ b/launch/run_sim.launch.py @@ -1,9 +1,4 @@ -import os -from ament_index_python.packages import get_package_share_directory -from launch import LaunchDescription -from launch.actions import IncludeLaunchDescription, DeclareLaunchArgument -from launch.launch_description_sources import PythonLaunchDescriptionSource -from launch.substitutions import LaunchConfiguration +from simple_launch import SimpleLauncher def generate_launch_description(): @@ -15,45 +10,22 @@ def generate_launch_description(): LaunchDescription: The launch description for the Eddie robot simulation. """ - # Define arguments - use_kelo_tulip_arg = DeclareLaunchArgument( - "use_kelo_tulip", - default_value="false", - description="Use kelo_tulip for platform control", - ) + sl = SimpleLauncher() - # Get the argument value - use_kelo_tulip = LaunchConfiguration("use_kelo_tulip") - - # Get package directories - pkg_eddie_share_description = get_package_share_directory("eddie_gazebo") - - load_eddie_gazebo_launch = IncludeLaunchDescription( - PythonLaunchDescriptionSource( - [ - os.path.join( - pkg_eddie_share_description, - "launch", - "load_gazebo.launch.py", - ) - ] - ), - launch_arguments={"use_kelo_tulip": use_kelo_tulip}.items(), + sl.declare_arg( + "use_kelo_tulip", "false", description="Use kelo_tulip for platform control" ) - load_gz_controllers_launch = IncludeLaunchDescription( - PythonLaunchDescriptionSource( - [ - os.path.join( - pkg_eddie_share_description, - "launch", - "load_gz_controllers.launch.py", - ) - ], - ), - launch_arguments={"use_kelo_tulip": use_kelo_tulip}.items(), + sl.include( + "eddie_gazebo", + "load_gazebo.launch.py", + launch_arguments={"use_kelo_tulip": sl.arg("use_kelo_tulip")}, ) - return LaunchDescription( - [use_kelo_tulip_arg, load_eddie_gazebo_launch, load_gz_controllers_launch] + sl.include( + "eddie_gazebo", + "load_gz_controllers.launch.py", + launch_arguments={"use_kelo_tulip": sl.arg("use_kelo_tulip")}, ) + + return sl.launch_description() diff --git a/worlds/eddie_basic_world.sdf b/worlds/eddie_basic_world.sdf index 03204e7..1abc1fa 100644 --- a/worlds/eddie_basic_world.sdf +++ b/worlds/eddie_basic_world.sdf @@ -56,7 +56,7 @@ - + 0.75 From 6c52d6a6aeede323c7df012ee881198cddd3052a Mon Sep 17 00:00:00 2001 From: Vamsi Date: Wed, 18 Dec 2024 15:46:53 +0100 Subject: [PATCH 22/22] added GitHub Actions workflows for build and linting, update package dependencies --- .github/workflows/build.yml | 22 ++++++++++++++++++++++ .github/workflows/ci_dep.repos | 13 +++++++++++++ .github/workflows/format_and_lint.yml | 6 +----- package.xml | 5 ++++- 4 files changed, 40 insertions(+), 6 deletions(-) create mode 100644 .github/workflows/build.yml create mode 100644 .github/workflows/ci_dep.repos diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml new file mode 100644 index 0000000..59657e5 --- /dev/null +++ b/.github/workflows/build.yml @@ -0,0 +1,22 @@ +name: Build +on: + push: + branches: + - main + pull_request: + branches: + - main +jobs: + build: + runs-on: ubuntu-24.04 + steps: + - name: Checkout code + uses: actions/checkout@v4 + - uses: ros-tooling/setup-ros@v0.7 + with: + required-ros-distributions: jazzy + - uses: ros-tooling/action-ros-ci@v0.3 + with: + target-ros2-distro: jazzy + vcs-repo-file-url: "${{ github.workspace }}/.github/workflows/ci_dep.repos" + package-name: kortex_description robotiq_description eddie_description eddie_gazebo diff --git a/.github/workflows/ci_dep.repos b/.github/workflows/ci_dep.repos new file mode 100644 index 0000000..24945c2 --- /dev/null +++ b/.github/workflows/ci_dep.repos @@ -0,0 +1,13 @@ +repositories: + ros2_kortex: + type: git + url: https://github.com/secorolab/ros2_kortex.git + version: main + ros2_robotiq_gripper: + type: git + url: https://github.com/PickNikRobotics/ros2_robotiq_gripper.git + version: main + eddie_description: + type: git + url: https://github.com/secorolab/eddie_description.git + version: main \ No newline at end of file diff --git a/.github/workflows/format_and_lint.yml b/.github/workflows/format_and_lint.yml index 0ec8e91..dce8a30 100644 --- a/.github/workflows/format_and_lint.yml +++ b/.github/workflows/format_and_lint.yml @@ -9,10 +9,6 @@ on: jobs: setup-build-lint: runs-on: ubuntu-latest - strategy: - fail-fast: false - matrix: - python-version: ["3.10", "3.12", "3.13"] steps: - name: Checkout code uses: actions/checkout@v4 @@ -27,7 +23,7 @@ jobs: restore-keys: | pre-commit-${{ runner.os }}- - name: Run pre-commit checks - working-directory: ws + working-directory: ${{ github.workspace }} run: | pre-commit autoupdate --repo https://github.com/pre-commit/pre-commit-hooks diff --git a/package.xml b/package.xml index 583a46d..3410607 100644 --- a/package.xml +++ b/package.xml @@ -4,7 +4,7 @@ eddie_gazebo 0.0.0 TODO: Package description - shinas + Vamsi Kalagaturu TODO: License declaration ament_copyright @@ -18,6 +18,9 @@ ros_gz_image gz_ros2_control simple_launch + ros2_control + ros2_controllers + eddie_description ament_python