Temp review

README.md

@@ -1,5 +1,5 @@
 # robotics_spot
-Reinforced Spot Mini
+The package of Spot` controller based on [SpotMicro project](https://github.com/OpenQuadruped/spot_mini_mini).
 
 
 ## Install
@@ -34,7 +34,7 @@ git clone https://github.com/tarasborov/robotics_spot.git
 Build docker images
 
 ```bash
-cd robotics_spot/docker/ros_melodic
+cd robotics_spot/docker/ros_spot
 chmod a+x build.bash
 sudo ./build.bash 
 ```
@@ -54,7 +54,7 @@ catkin config --init --extend /opt/ros/melodic
 catkin build
 ```
 
-## Use state machine 
+## Use tmux
 All following commands should be executed in specified containers:
 
 ```bash
@@ -63,5 +63,59 @@ chmod a+x start.sh
 chmod a+x session.yml
 ./start.sh
 ```
-Now tmux session will start with all required tabs. All required commandsmay be added to the history, in order to simplify their usage.
+Now tmux session will start with all required tabs. All required commands may be added to the history, in order to simplify their usage.
 
+## Start Gazebo
+Launch world SoftServe office:
+```bash
+roslaunch rs_gazebo HQ.launch
+```
+Launch the specific world:
+```bash
+roslaunch rs_gazebo HQ.launch world_name:="<world_name>"
+```
+Spawn robot:
+```bash
+roslaunch rs_gazebo robot.launch 
+```
+Spawn robot with the specific name and position:
+```bash
+roslaunch rs_gazebo robot.launch robot_name:="<spot_name>"  init_pose:="-x 0.0 -y 0.0 -z 0.0"
+```
+## Control
+You can control Spot in the two ways: using forward or inverse kinematics. Forward kinematics means to send command on actuator directly. To run hardcoded actuators` command just run:
+```bash
+roslaunch rs_control talker.launch 
+```
+Run for the specific robot:
+```bash
+roslaunch rs_control talker.launch robot_name:="<spot_name>"
+```
+
+Inverse kinematics means to predetermine joins angels by calculating kinematics relationships between joints. To calculate gait we use algorithm frrom [SpotMicro project](https://github.com/OpenQuadruped/spot_mini_mini).
+In order to control Spot using inverse kinematics and MIT control use the following commands: 
+
+Start a controller:
+```bash
+roslaunch rs_inverse inverse.launch
+```
+Run for the specific robot:
+```bash
+roslaunch rs_inverse inverse.launch robot_name:="<spot_name>"
+```
+Launch GUI to send command:
+```bash
+roslaunch rs_inverse gui_spot.launch
+```
+Run GUI for the specific robot:
+```bash
+roslaunch rs_inverse gui_spot.launch robot_name:="<spot_name>"
+```
+Launch a teleop to control Spot:
+```bash
+roslaunch rs_teleop teleop_spot.launch
+```
+Run teleop for the specific robot:
+```bash
+roslaunch rs_teleop teleop_spot.launch robot_name:="<spot_name>"
+```

docker/ros_melodic/Dockerfile → docker/ros_spot/Dockerfile

@@ -2,6 +2,12 @@ FROM lyubomyrd/ros_melodic:latest
 
 WORKDIR /root
 
+# nvidia-container-runtime
+ENV NVIDIA_VISIBLE_DEVICES \
+    ${NVIDIA_VISIBLE_DEVICES:-all}
+ENV NVIDIA_DRIVER_CAPABILITIES \
+    ${NVIDIA_DRIVER_CAPABILITIES:+$NVIDIA_DRIVER_CAPABILITIES,}graphics
+
 RUN apt-get update && apt-get install -y \    
     openssh-server \    
     gdb \
@@ -10,8 +16,6 @@ RUN apt-get update && apt-get install -y \
     ros-melodic-joint-state-publisher-gui \
     ros-melodic-interactive-marker-twist-server \ 
     ros-melodic-robot-state-publisher \
-    python-pip \
-    && pip install simple-pid \
     && rm -rf /var/lib/apt/lists/* 
 
 RUN mkdir /var/run/sshd
@@ -27,8 +31,6 @@ RUN mkdir -p deps_ws/src && \
         --cmake-args -DCMAKE_BUILD_TYPE=Release && \
     catkin profile set release
 
-RUN echo "PS1='\[\e[33m\][MrHandy]\[\e[m\] ${debian_chroot:+($debian_chroot)}\[\033[01;32m\]\u@\h\[\033[00m\]:\[\033[01;34m\]\w\[\033[00m\]\$ '" >> ~/.bashrc
-
-RUN echo "source ~/ws/devel/setup.bash" >> ~/.bashrc
+RUN echo "PS1='\[\e[33m\][Spot]\[\e[m\] ${debian_chroot:+($debian_chroot)}\[\033[01;32m\]\u@\h\[\033[00m\]:\[\033[01;34m\]\w\[\033[00m\]\$ '" >> ~/.bashrc
 
-RUN echo "export XV_NAME=hand_0" >> ~/.bashrc
+RUN echo "source ~/ws/devel/setup.bash" >> ~/.bashrc

docker/ros_melodic/run.bash → docker/ros_spot/run.bash

@@ -13,6 +13,7 @@ docker run -it --rm \
     --volume="$WS_DIR_PATH:/root/ws" \
     --env="DISPLAY=$DISPLAY" \
     --env QT_X11_NO_MITSHM=1 \
+    --runtime=nvidia \
     --net host \
 ros_melodic_ws
 

rs_control/CMakeLists.txt

@@ -5,10 +5,11 @@ find_package(catkin REQUIRED COMPONENTS)
 
 catkin_package()
 
-
-install(DIRECTORY config
-  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
-
-install(DIRECTORY launch
-  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
-
+catkin_install_python(
+	PROGRAMS
+	  scripts/talker.py
+    DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+install(DIRECTORY launch config
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})

rs_control/config/forward_kinematics.yaml

@@ -0,0 +1,39 @@
+  sit_down: [ [ 0.20, 1.0, -2.49 ],
+              [ -0.20, 1.0, -2.49 ],
+              [ 0.20, 1.0, -2.49 ],
+              [ -0.20, 1.0, -2.49 ] ]
+
+  stand_up: [ [ 0.20, 0.7, -1.39 ],
+              [ -0.20, 0.7, -1.39 ],
+              [ 0.20, 0.7, -1.39 ],
+              [ -0.20, 0.7, -1.39 ] ]
+
+  give_paw: [ [ -0.30, 1.0, -1.39 ],
+              [ -0.20, -0.6, -1.09 ],
+              [ 0.20, 1.0, -2.39 ],
+              [ -0.20, 1.0, -2.39 ] ]
+
+  leg_spread: [ [ 1.20, 0.7, -1.39 ],
+                [ -1.20, 0.7, -1.39 ],
+                [ 1.20, 0.7, -1.39 ],
+                [ -1.20, 0.7, -1.39 ] ]
+
+  fl_leg: [ [ 0.20, -0.2, -1.09 ],
+            [ -0.20, 0.7, -1.39 ],
+            [ 0.20, 0.7, -1.39 ],
+            [ -0.20, 0.7, -1.39 ] ]
+
+  fr_leg: [ [ 0.20, 0.7, -1.09 ],
+            [ -0.20, -0.2, -1.09 ],
+            [ 0.20, 0.7, -1.39 ],
+            [ -0.20, 0.7, -1.39 ] ]
+
+  bow_forward: [ [ 0.20, 1.0, -1.79 ],
+                 [ -0.20, 1.0, -1.79 ],
+                 [ 0.20, 0.7, -1.29 ],
+                 [ -0.20, 0.7, -1.29 ] ]
+
+  leg_spread_left: [ [ 1.20, 0.7, -1.39 ],
+                     [ 0.20, 0.7, -1.39 ],
+                     [ 1.20, 0.7, -1.39 ],
+                     [ 0.20, 0.7, -1.39 ] ]

rs_control/config/spot_control.yaml

@@ -1,5 +1,4 @@
-spot:
-  # Publish all joint states -----------------------------------
+ # Publish all joint states -----------------------------------
   joint_states_controller:
       type: joint_state_controller/JointStateController
       publish_rate: 50
@@ -30,11 +29,11 @@ spot:
       type:  effort_controllers/JointPositionController
       joint: front_right_hip_y
       pid:   {p: 280, d: 45, i: 0.001}
-      antiwindup: False 
+      antiwindup: False
   joint_front_right_knee_controller:
       type:  effort_controllers/JointPositionController
       joint: front_right_knee
-      pid:   {p: 280, d: 45, i: 0.001} 
+      pid:   {p: 280, d: 45, i: 0.001}
       antiwindup: False
   joint_rear_left_hip_x_controller:
       type:  effort_controllers/JointPositionController
@@ -44,7 +43,7 @@ spot:
   joint_rear_left_hip_y_controller:
       type:  effort_controllers/JointPositionController
       joint: rear_left_hip_y
-      pid:   {p: 280, d: 45, i: 0.001} 
+      pid:   {p: 280, d: 45, i: 0.001}
       antiwindup: False
   joint_rear_left_knee_controller:
       type:  effort_controllers/JointPositionController

rs_control/launch/spot_controller.launch

@@ -1,15 +1,20 @@
 <launch>
-
+  <arg name="spot_name" default="spot1" />
   <!-- Load joint controller configurations from YAML file to parameter server -->
   <rosparam file="$(find rs_control)/config/spot_control.yaml" command="load"/>
-
   <!-- Load the controllers -->
   <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
-    output="screen" ns="/spot" args="joint_front_left_hip_x_controller joint_front_left_hip_y_controller joint_front_left_knee_controller joint_front_right_hip_x_controller joint_front_right_hip_y_controller joint_front_right_knee_controller joint_rear_left_hip_x_controller joint_rear_left_hip_y_controller joint_rear_left_knee_controller joint_rear_right_hip_x_controller joint_rear_right_hip_y_controller joint_rear_right_knee_controller joint_states_controller"/>
-
-  <!-- convert joint states to TF transforms for rviz, etc -->
-  <!-- <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="false" output="screen">
-    <remap from="/joint_states" to="/spot/joint_states" />
-  </node> -->
-
+    output="screen" ns="/$(arg spot_name)" args="joint_front_left_hip_x_controller
+                                                 joint_front_left_hip_y_controller
+                                                 joint_front_left_knee_controller
+                                                 joint_front_right_hip_x_controller
+                                                 joint_front_right_hip_y_controller
+                                                 joint_front_right_knee_controller
+                                                 joint_rear_left_hip_x_controller
+                                                 joint_rear_left_hip_y_controller
+                                                 joint_rear_left_knee_controller
+                                                 joint_rear_right_hip_x_controller
+                                                 joint_rear_right_hip_y_controller
+                                                 joint_rear_right_knee_controller
+                                                 joint_states_controller"/>
 </launch>

rs_control/launch/talker.launch

@@ -0,0 +1,6 @@
+<launch>
+    <arg name="robot_name" default="spot1" />
+        <param name="spot_name" type="str" value="$(arg robot_name)" />
+        <rosparam file="$(find rs_control)/config/forward_kinematics.yaml" command="load"/>
+        <node name="talker_forward" pkg="rs_control" type="talker.py" output="screen" ns="/$(arg robot_name)"/>
+</launch>

rs_control/package.xml

@@ -13,7 +13,4 @@
   <exec_depend>controller_manager</exec_depend>
   <exec_depend>joint_state_controller</exec_depend>
   <exec_depend>robot_state_publisher</exec_depend>
-
-  <export>
-  </export>
 </package>